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The purpose of this study is to develop a gait retraining feedback system based on wearable sensors for the gait training and the recovery of knee osteoarthritis patients. The system is mainly composed of one motion sensor, six plantar pressure sensors, vibrator and upper computer. The foot progression angle of subject measured by the motion sensor was transmitted to a upper computer through a WIFI...
We present a balance recovery control design for human walking with foot slip. The control strategy is built on the two-mass linear inverted pendulum model (LIP) that represents the human body and limb motions. We first validate the model through experiments of human normal walking and walking with foot slip. We then design a balance recovery control using the capture point (CP) concept. We extend...
Slip and fall is one of the major causes for human injuries for elders and professional workers. Real-time detection and prediction of the foot slip is critical for developing effective assistive and rehabilitation devices to prevent falls and train balance disorder patients. This paper presents a novel real-time slip detection and prediction scheme with wearable inertial measurement units (IMUs)...
Slip is the major cause of falls in human locomotion. We present a new bipedal modeling approach to capture and predict human walking locomotion with slips. Compared with the existing bipedal models, the proposed slip walking model includes the human foot rolling effects, the existence of the double-stance gait and active ankle joints. One of the major developments is the relaxation of the nonslip...
Because of the limited space and enormous forces in the human foot, researchers generally simplified the foot as a rigid body in the development of lower extremity exoskeletons and biped humanoid robots, which led to unsatisfying performance on flexibility and auto-stability. In this paper, we propose a novel parallel mechanism with seven degrees of freedom (DOF) to realize the main possible movements...
In order to implement an unobstructed assessment of walking gait, we proposed a mobile force plate and three-dimensional motion analysis system (M3D) to measure triaxial ground reaction forces (GRF) and three-dimensional orientations of feet. To test accuracy of the new measurement system, verification experiments by using reference measurements of a commercially available measurement system were...
Human foot is a complex musculoskeletal system. As it is impossible to directly measure the force of muscle attaching with limbs, a new quantitative method for dynamics analysis of human ankle muscle forces is presented by using the AnyBody Modeling System and a developed wearable motion and ground reaction force (GRF) sensor system. The sensor system can be used to continuously measure human motion...
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