An experimental analysis of human straight walking

doi:10.1007/s11465-013-0357-4

Front Mech Eng

2013, Vol. 8

Issue (1) : 95-103 https://doi.org/10.1007/s11465-013-0357-4

RESEARCH ARTICLE

An experimental analysis of human straight walking

Tao LI(

), Marco CECCARELLI

Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy

Download: PDF(682 KB) HTML
Export: BibTeX | EndNote | Reference Manager | ProCite | RefWorks

Abstract

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords human locomotion walking gait characterization humanoid robot biped robot

Corresponding Author(s): LI Tao,Email:taoli@unicas.it

Issue Date: 05 March 2013

Cite this article:

Tao LI,Marco CECCARELLI. An experimental analysis of human straight walking[J]. Front Mech Eng, 2013, 8(1): 95-103.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-013-0357-4
https://academic.hep.com.cn/fme/EN/Y2013/V8/I1/95

Fig.1 A measuring system CATRASYS. (a) A scheme ( to are amplifiers; to are cable transducers; to are force sensors); (b) a zoomed view of the installation for cable transducer and force sensor; (c) a scheme of the inside structure of the cable transducer, []; (d) a scheme for the force sensor installation with acting force []

Fig.2 A 3-3 configuration of the end-effectors. (a) Scheme for trilateration; (b) an experimental layout ( to : base points of cables 1 to 6; -Cartesian coordinates frame, the origin of the frame coincides with the base point of the fifth cable, i.e. , -axis points at the walking direction, -axis points at the opposite direction as gravity; 1—sagittal plane; 2—transverse plane; 3—coronal plane)

Fig.3 Trajectories obtained after statistical elaboration as referring to the experiment carried out in Fig. 2(b). (a) A trajectory of the knee point; (b) a trajectory of the ankle point

Fig.4 Characterization model of the projections of trajectories in sagittal plane for the significant parameters that can be identified through a test as in Fig. 2(b). (a) Knee point; (b) ankle point

Fig.5 Projections of trajectories in transverse plane. (a) Knee point; (b) ankle point

Fig.6 Projections of the trajectories in coronal plane. (a) Knee point; (b) ankle point

Fig.7 Computed , , and components of velocity during the test in Fig. 2(b). (a) Velocity of the knee point; (b) velocity of the ankle point

Fig.8 Computed , , and components of acceleration during the test in Fig. 2(b). (a) Acceleration of the knee point; (b) acceleration of the ankle point

Fig.9 Computed , and components of force during the test in Fig. 2(b) for (a) knee point; (b) ankle point

Fig.10 Computed magnitude of the forces

Fig.11 Computed orientation of the shank

1	Kedzior K, Morecki A. Biomechanics of Musculoskeletal System-Medical Robotics. Lecture Notes of the ICB Seminars. Warsaw: Polish Academy of Science, 2000, 46: 199–208
2	Adrian M, Cooper J. Biomechanics of Human Movement. Indianapolis: Benchmark Press, 1995
3	Eberhart H D. Fundamental studies of human locomotion and other information relating to design of artificial limbs. Subcontractors’ Report to National Council , Berkeley, California, 1947
4	Inman V T, Ralston H J, Todd F. In: Lieberman J C, ed. Human Walking . Baltimore: Williams & Wilkins, 1981
5	Marey E J. La photographie du mouvement. Catalogue de l’exposition du Musee National d’Art Moderne Centre Georges Pompidou. In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures . Promograph, Rome, 1977-1978, 88
6	Muybridge. Complete human and animal locomotion (all 781 plates from the 1887 animal locomotion). In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures . Promograph, Rome, 1979, 69
7	Braune W, Fischer O. Determination of the moments of inertia of the human body and its limbs. In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures . Promograph, Rome, 1988, 125
8	Noonan D, Mountney P, Elson D, Darzi A, Yang G Z. A stereoscopic fibroscope for camera motion and 3D depth recovery during minimally invasive surgery. In: Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan, 2009, 4463–4468
9	Jonsson H, K?rrholm J. Three-dimensional knee joint movements during a step-up: Evaluation after anterior cruciate ligament rupture. Journal of Orthopaedic Research , 1994, 12(6): 769–779 doi: 10.1002/jor.1100120604 pmid:7983552
10	Stiehl J B, Komistek R D, Dennis D A, Paxson R D, Hoff W A. Fluoroscopic analysis of kinematics after posterior-cruciate-retaining knee arthroplasty. Journal of Bone and Joint Surgery , 1995, 77(6): 884–889 pmid:7593100
11	Banks S A, Hodge W A. Accurate measurement of three-dimensional knee replacement kinematics using single-plane fluoroscopy. IEEE Transactions on Bio-Medical Engineering , 1996, 43(6): 638–649 doi: 10.1109/10.495283 pmid:8987268
12	Holden J P, Orsini J A, Siegel K L, Kepple T M, Gerber L H, Stanhope S J. Surface movements errors in shank kinematics and knee kinetics during gait. Gait & Posture , 1997, 5(3): 217–227 doi: 10.1016/S0966-6362(96)01088-0
13	Rose J, Gamble J G. Human Walking. 3rd ed. Philadelphia: Lippincott Williams & Wilkins, 2006
14	Abernethy B, Hanrahan S J, Kippers V, Machinnon L T, Pandy M G. The Biophysical Foundations of Human Movement. 2nd ed. Ann Arbor: Edwards Brothers, 2005
15	Andriacchi T P, Alexander E J. Studies of human locomotion: Past, present and future. Journal of Biomechanics , 2000, 33(10): 1217–1224 doi: 10.1016/S0021-9290(00)00061-0 pmid:10899330
16	Boutin L, Eon A, Zeghloul S, Lacouture P. An auto-adaptable algorithm to generate human-like locomotion for different humanoid robots based on motion capture data. In: Proceedings of International Conference on Intelligent Robots and Systems (IROS) , 2010, 1256–1261
17	Lim C K, Luo Z Q, Chen I M, Yeo S H. A low cost wearable optical-based goniometer for human joint monitoring. Frontiers of Mechanical Engineering , 2011, 6(1): 13–22
18	Ceccarelli M. The historical development of CATRASYS—A cable system. In: Explorations in the History of Machines and Mechanisms. Book series on History of Machines and Machine Science . Dordrecht: Springer, 2012, 15: 365–379
19	Ceccarelli M, Toti M E, Ottaviano E. CATRASYS (Cassino Tracking System): A new measuring system for workspace evaluation of robots. In: Proceedings of the 8th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD’99 . Munich, 1999, 19–24
20	Ceccarelli M, Ottaviano E, Toti M. Experimental determination of robot workspace by means of CATRASYS (Cassino Tracking System). In: Proceedings of the 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators . Wien, 2000, 85–92
21	Ottaviano E, Ceccarelli M, Toti M, Carrasco C A. CATRASYS (Cassino Traking System): A wire system for experimental evaluation of robot workspace. Fuji International Journal of Robotics and Mechatronics , 2002, 14(1): 78–87
22	Ottaviano E, Ceccarelli M, Palmucci F. An application of CATRASYS, a cable-based parallel measuring system for an experimental characterization of human walking. Robotica , 2010, 28: 119–133
23	Li T, Ceccarelli M. A characterization of human locomotion by CATRASYS (Cassino Tracking System). New Trends in Mechanism and Machine Science, Mechanisms and Machine Science , 2013, 7: 469–477
24	Ottaviano E, Ceccarelli M, Palmucci F. Experimental identification of kinematic parameters and joint mobility of human limbs. In: Proceedings of the 2nd World Congress on Design and Modeling of Mechanical System , Monastir, Tunisia, 2007

[1]	Y. Luo, S. C. Wu, Y. N. Hu, Y. N. Fu. *Cracking evolution behaviors of lightweight materials based on in situ* synchrotron X-ray tomography: A review**[J]. Front. Mech. Eng., 2018, 13(4): 461-481.
[2]	Joe T. REXWINKLE, Heather K. HUNT, Ferris M. PFEIFFER. Characterization of the surface and interfacial properties of the lamina splendens[J]. Front. Mech. Eng., 2017, 12(2): 234-252.
[3]	Huaxin LIU,Marco CECCARELLI,Qiang HUANG. Design and simulation of a cable-pulley-based transmission for artificial ankle joints[J]. Front. Mech. Eng., 2016, 11(2): 170-183.
[4]	Daniele CAFOLLA,I-Ming CHEN,Marco CECCARELLI. An experimental characterization of human torso motion[J]. Front. Mech. Eng., 2015, 10(4): 311-325.
[5]	Marco CECCARELLI. LARM PKM solutions for torso design in humanoid robots[J]. Front. Mech. Eng., 2014, 9(4): 308-316.
[6]	Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA. Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot[J]. Front Mech Eng, 2012, 7(4): 357-370.
[7]	ZHANG Wen-zeng, CHEN Qiang, SUN Zhen-guo, XU Lei. Superunderactuated Multifingered Hand for Humanoid Robot[J]. Front. Mech. Eng., 2006, 1(1): 33-39.

Viewed

Full text

Abstract

Cited

Shared

Discussed