The Balance: An energy management task

Tiseo, Carlo; Ang, Wei Tech

doi:10.1109/biorob.2016.7523712

Cited by 12 publications

(39 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The postures assumed while walking at 0.7, 1.0, 1.2 and 1.6 m/s as reported by Orendurff et al [34] are compared to analyse how the stepping strategies modify the BoS with the increase in speed and, diverts the system stability towards the motion direction and, thus limits the lateral stability. Such behaviours are consistent with previous observations, which report humans using shorter steps at a higher frequency in order to obtain greater lateral stability without reducing the walking speed [23,39]. Lastly, the MoS produced by our model is congruent with the experimental results in McAndrew Young et al [22].…”

Section: Implication Of Having a Unique Bossupporting

confidence: 92%

“…The formulation of the foot swing trajectory is based on the synchronization observed between anteroposterior trajectory (AP-trajectory) of the foot and the CoM movement in human strategies, and it is equivalent to the compass gait model [4,39]. To obtain such a condition the CoM trajectory has to be constrained on the segment connecting the two CoPs (i.e., y Saddle ), as shown in Figure 5.(a).…”

Section: Generation Of Swinging Foot Anteroposterior Trajectorymentioning

confidence: 99%

See 1 more Smart Citation

The bipedal saddle space: modelling and validation

2018

View full text Add to dashboard Cite

Better understanding of humans balance control is pivotal for applications such as bipedal robots and medical technologies/therapies targeting human locomotion. Despite the inverted pendulum model being popular to describe the bipedal locomotion, it does not properly capture the step-to-step transition dynamics. The major drawback has been the requirement of both feet on the ground that generates a discontinuity along the intersection of the potential energy surfaces produced by the two legs. To overcome this problem, we propose a generalised inverted pendulumbased model that can describe both single and double support phases. The full characterisation of the system potential energy allows the proposed model to drop the main limitation. This framework also enables to design optimal strategies for the transition between the two feet without the optimisation algorithms. The proposed theory has been validated by comparing the human locomotor strategies output of our planner with real-data from multiple experimental studies. The results show that our model generates trajectories consistent with human variability and performs better compared to existing well-known methods.

show abstract

Section: Implication Of Having a Unique Bossupporting

confidence: 92%

Section: Generation Of Swinging Foot Anteroposterior Trajectorymentioning

confidence: 99%

The bipedal saddle space: modelling and validation

2018

View full text Add to dashboard Cite

show abstract

“…Gait parameters, such as step length and step width, can be used to evaluate the recovery performance of patients [2,3]. Moreover, the Base of Support (BoS), constructed from the relative positions of the feet, is often used with the eXtrapolated Center of Mass (XCoM) to evaluate balance [4,5]. Thus, gait analysis is important in gait rehabilitation and assistance for a more thorough and comprehensive assessment.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Foot Tracking and Gait Evaluation with Geometric Modeling

Foo¹,

Chang²,

Ang

2022

Sensors

View full text Add to dashboard Cite

Gait evaluation is important in gait rehabilitation and assistance to monitor patient’s balance status and assess recovery performance. Recent technologies leverage on vision-based systems with high portability and low operational complexity. In this paper, we propose a new vision-based foot tracking algorithm specially catering to overground gait assistive devices, which often have limited view of the users. The algorithm models the foot and the shank of the user using simple geometry. Through cost optimization, it then aligns the models to the point cloud, showing the back view of the user’s lower limbs. The system outputs the poses of the feet, which are used to compute the spatial-temporal gait parameters. Seven healthy young subjects are recruited to perform overground and treadmill walking trials. The results of the algorithm are compared with the motion capture system and a third-party gait analysis software. The algorithm has a fitting rotational and translational errors of less than 20 degrees and 33 mm, respectively, for 0.4 m/s walking speed. The gait detection F1 score achieves more than 96.8%. The step length and step width errors are around 35 mm, while the cycle time error is less than 38 ms. The proposed algorithm provides a fast, contactless, portable, and cost-effective gait evaluation method without requiring the user to wear any customized footwear.

show abstract

“…We defined a posture dependant space, called Saddle Space, to study the potential energy of the system during posture changes (Figure 1.(a)). The main advantage of this space is the possibility to define a single model for BoS geometry that can be projected in the task space [20,21,23,24]. The Saddle Space model is based on the identification of a reference point within the foot (i.e., extrapolated Centre of Pressure or eCoP), and a Base of Support (BoS) that describes the range of motion of the physical the centre of pressure within the foot.…”

Section: Introductionmentioning

confidence: 99%

Deployment of the Saddle Space Transformation in Tracking the Base of Support

Tiseo,

Foo,

Veluvolu

et al. 2018

Preprint

Self Cite

View full text Add to dashboard Cite

Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related injuries among elderlies. The Base of Support (BoS) is a popular method for bipedal stability assessment, but its accuracy depends on the accuracy the BoS geometry measurement. This work presents a method to ease the BoS tracking by the identification of a reference frame that allows to define postural models of the BoS geometry. Although we also propose a geometry based on the geometry determined from centre of pressure range of motion within the foot obtained from literature, this methodology can be used with other models (i.e., the feasible base of support). The model has been tested with 12 healthy subjects, which have been asked to explore their stability in six different postures. The results show that the model can accurate deform the geometry of the BoS to adapt its shape to the different postures, which can remove the necessity of force/torque sensors in some application. Potentially the proposed method can be also applied to describe any posture dependent attribute (e.g., gravitational forces), and it can be also applied to bipedal robots. Therefore, it constitutes a novel mathematical tool that can be deployed to develop both better sensors and models for bipeds. For example, it can be used with the Extrapolated CoM model to evaluate dynamic stability from the body kinematics.

show abstract

The Balance: An energy management task

Cited by 12 publications

References 33 publications

The bipedal saddle space: modelling and validation

The bipedal saddle space: modelling and validation

Real-Time Foot Tracking and Gait Evaluation with Geometric Modeling

Deployment of the Saddle Space Transformation in Tracking the Base of Support

Contact Info

Product

Resources

About