On the centre of mass motion in human walking

Carpentier, Justin; Benallegue, Mehdi; Laumond, Jean–Paul

doi:10.1007/s11633-017-1088-5

Cited by 32 publications

(28 citation statements)

References 28 publications

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“…The development of bipeds has increased within the last three decades steadily due to the high flexibility and efficiency of bipedal gait [20,77]. Notwithstanding the steady improvements of the robots over this time span, their performances are still far behind human beings [119][120][121][122][123]. For example, a robot requires a few seconds to plan the first step in a novel environment, which is characterised by flat surfaces and the absence of obstacles.…”

Section: The Zmp Model and Anthropomorphic Bipedal Robotsmentioning

confidence: 99%

“…The limitation of current planners derives from the Zero Moment Point (ZMP) model, which is currently the gold standard for step planning [90,119,121]. The ZMP model provides a method for the calculation of foot landing if both the support foot and the desired CoM position at the moment of the landing are known [93,121].…”

Section: The Zmp Model and Anthropomorphic Bipedal Robotsmentioning

confidence: 99%

“…Another difference between the human and robots walking is that the CoM trajectory of the latter is constrained on a single transverse plane, while human CoM has a vertical component [119].…”

Section: The Zmp Model and Anthropomorphic Bipedal Robotsmentioning

confidence: 99%

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Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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With the rapidly ageing of the world' s population, the WHO predicted that, by 2050, there will be about one billion people who are 65 years or older suffering from mobility-related problems. Robotic rehabilitation has been proven to provide effective therapies for people with motor deficiencies. Although multiple solutions have been developed for both balance and gait rehabilitation, both exoskeletons and robotic walkers have been shown to not have any benefit when compared with current therapies. A possible justification is a significant alteration of the activity dynamics (i.e. balance and locomotion) that prevents the skill translatability in daily living. The current knowledge about bipedal dynamics was reviewed to identify a viable solution for the improvement of both locomotion and balance therapy. The review revealed a gap in the current knowledge in the human balance and locomotion motor control, which does not provide a satisfactory explanation of how humans control and optimize their locomotion. The following hypotheses have been developed to address the limitations of bipedal models: first, the brain accounts for fixed fulcrum for the legs' inverted pendulum model, and second, the legs are not simply synchronised but are deployed as coupled oscillators. These hypotheses have enabled the formulation of an algebraic model for human locomotion that has been tested against data from multiple experiments. The results show that the proposed [167] C. Tiseo, W. T. Ang, and C. Y. Shee, "Dynamics of the mobile robotic balance trainer: Study of the pentagonal closed chain properties in

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Section: The Zmp Model and Anthropomorphic Bipedal Robotsmentioning

confidence: 99%

Section: The Zmp Model and Anthropomorphic Bipedal Robotsmentioning

confidence: 99%

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Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Tiseo¹

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“…The volunteers were nine healthy men, (age: 24.2 ± 2.3 yr, height: 1.74 ± 0.09 m, mass: 71.0 ± 9.0 kg). The experimental setting was equipped with 13 infrared cameras sampling at 200 Hz (Vicon, Oxford Metrics, UK), which recorded the motions of 43 reflective markers attached to the participants body [9]. The markers set was placed in accordance with the International Society of Biomechanics (ISB) and Wu guidelines [10].…”

Section: A Datamentioning

confidence: 99%

Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics

Boukheddimi

Bailly

Souères

et al. 2019

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper shows that controlling only a small set of adequately selected tasks is sufficient to closely reproduce the human gait kinematics. To this aim, a hierarchical controller is applied to a whole-body model including 42 degrees of freedom with 3 hierarchical tasks. The analysis of the simulated gaits shows the emergence of significant human-like properties in walking. In order to validate our results, a comparison between joint rotations in the simulated motion and in human reference motions is conducted. Finally, a discussion is given to illustrate the interest of the approach in view of related works.

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“…Walking is a movement that allows one to move from one place to another by moving the foot forward in the correct position alternately [1]. Repeated movements or coordinated cycles form a gait.…”

Section: Introductionmentioning

confidence: 99%

Human Gait Feature Extraction based-on Silhouette and Center of Mass

Jannah¹,

Madenda²,

Maulana³

et al. 2019

IJACSA

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When someone walks, there is a repetitive movement or coordinated cycle that forms a gait. Gait is different, unique and difficult to imitate. This characteristic makes gait one of the biometrics to find out one's identity. Gait analysis is needed in the development of biometric technology, such as in the field of security surveillance and the health sector to monitor gait abnormalities. The center of mass is the unique point of every object that has a role in the study of humans walking. Each person has a different center of mass. In this research, through a series of processes in image processing such as video acquisition, segmentation, silhouette formation, and feature extraction, the center of mass of the human body can be identified using a webcam with the resolution of 640 x 480 pixels and the frame rate of 30 frames/second. The results obtained from this research were gait frames of 510 frames from 17 pedestrian videos. Segmentation process using background subtraction separates the pedestrian object image from the background. Silhouette gait was produced from a series of image enhancement processes to eliminate noise that interferes the image quality. Based on the silhouette, feature extraction provides the center of mass to distinguish each individual's gait. The sequence of center of mass can be further processed for characterizing human gait cycle for various purposes.

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On the centre of mass motion in human walking

Cited by 32 publications

References 28 publications

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics

Human Gait Feature Extraction based-on Silhouette and Center of Mass

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