Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

Vielemeyer, Johanna; Staufenberg, Nora-Sophie; Schreff, Lucas; Rixen, Daniel J.; Müller, Roy

doi:10.1098/rsos.221473

Cited by 5 publications

(4 citation statements)

References 46 publications

(77 reference statements)

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“…However, although the values are not statistically significant, a larger scatter and tendency for lower R 2 values for these conditions can be observed ( The VPP variables (position and R 2 ) confirm former studies, especially for the baseline conditions barefoot and shoe walking [1,2,8,9,21]. Until now, all human gait experiments regarding the perturbation of the VPP could show the point, except for single outliers [4,8,9,21]. Thus it may be concluded that the VPP has a fundamental function for upright human gait.…”

Section: Plos Onesupporting

confidence: 79%

“…Only for single outliers (e.g. this study and [21]) the VPP input variables seem not to be able to compensate each other. Following from that it would be interesting to find perturbations of the entire interaction of the musculoskeletal system.…”

Section: Future Considerationsmentioning

confidence: 75%

“…This is also reflected in the profile of the ankle torque, where no obvious differences between shoe and plank walking could be found (Fig 5B). The shift of the vertical VPP position can be attributed to the shorter single support phase and the lower GRFx peaks in plank walking compared with shoe walking (Table 1 and Fig 4A), since the GRFx is an important variable for the VPP position [21]. That means that the changed CoP movement only influences the VPP position indirectly.…”

Section: Plos Onementioning

confidence: 94%

See 2 more Smart Citations

Virtual pivot point: Always experimentally observed in human walking?

Vielemeyer,

Schreff,

Hochstein

et al. 2023

PLoS ONE

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A main challenge in human walking is maintaining stability. One strategy to balance the whole body dynamically is to direct the ground reaction forces toward a point above the center of mass, called virtual pivot point (VPP). This strategy could be observed in various experimental studies for human and animal gait. A VPP was also observed when VPP input variables like center of mass or ground reaction forces were perturbed. In this study, the kinetic and kinematic consequences of a center of pressure manipulation and the influence on the VPP are investigated. Thus, eleven participants walked with manipulated center of pressure (i.e. barefoot, backwards, with a rigid sole, with stilts, and in handstand compared to shoe walking). In all conditions a VPP could be observed, only one participant showed no VPP in handstand walking. The vertical VPP position only differs between shoe walking and rigid sole walking, there are no significant differences between the conditions in the horizontal VPP position and the spread around the VPP. However, it is conceivable that for more severe gait changes, walking without VPP could be observed. To further analyze this issue, the authors provide a VPP calculation tool for testing data regarding the existence of the VPP.

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Section: Plos Onesupporting

confidence: 79%

Section: Future Considerationsmentioning

confidence: 75%

Section: Plos Onementioning

confidence: 94%

See 1 more Smart Citation

Virtual pivot point: Always experimentally observed in human walking?

Vielemeyer,

Schreff,

Hochstein

et al. 2023

PLoS ONE

Self Cite

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show abstract

“…Therefore, when calculating the GRFs for walking, different positions of the VPP during double and single support should be considered in a future study. Furthermore, while walking with bent legs which can be compared with the lunge posture of the present study, Vielemeyer et al (2023b) observed a (cranial) shift in the VPP position.…”

Section: Discussionsupporting

confidence: 59%

The virtual pivot point concept improves predictions of ground reaction forces

Wagner,

Schmitz,

Boström

2024

Front. Bioeng. Biotechnol.

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Ground reaction forces (GRFs) are essential for the analysis of human movement. To measure GRFs, 3D force plates that are fixed to the floor are used with large measuring ranges, excellent accuracy and high sample frequency. For less dynamic movements, like walking or squatting, portable 3D force plates are used, while if just the vertical component of the GRFs is of interest, pressure plates or in-shoe pressure measurements are often preferred. In many cases, however, it is impossible to measure 3D GRFs, e.g., during athletic competitions, at work or everyday life. It is still challenging to predict the horizontal components of the GRFs from kinematics using biomechanical models. The virtual pivot point (VPP) concept states that measured GRFs during walking intercept in a point located above the center of mass, while during running, the GRFs cross each other at a point below the center of mass. In the present study, this concept is used to compare predicted GRFs from measured kinematics with measured 3D-GRFs, not only during walking but also during more static movements like squatting and inline lunge. To predict the GRFs a full-body biomechanical model was used while gradually changing the positions of the VPP. It is shown that an optimal VPP improves the prediction of GRFs not only for walking but also for inline lunge and squats.

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The effect of active leg swing on walking template model dynamics

Renjewski

2024

Proc Appl Math and Mech

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Some reductionist models match human walking dynamics surprisingly well. For reasons of simplicity, the swing leg and its dynamics have been neglected in the past. A dynamic effect would, however, be expected of the high acceleration and deceleration required to recirculate approximately 15% of the entire body mass during the very short swing phase. This paper documents the investigation of the effect of a simplified swing leg on the dynamics of a reductionist walking model. The findings suggest the dynamic decoupling of the swing leg and the remaining body.

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Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

Cited by 5 publications

References 46 publications

Virtual pivot point: Always experimentally observed in human walking?

Virtual pivot point: Always experimentally observed in human walking?

The virtual pivot point concept improves predictions of ground reaction forces

The effect of active leg swing on walking template model dynamics

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