Article
Engineering, Mechanical
Amirreza Naseri, Majid Mohammadi Moghaddam, Martin Grimmer, Maziar Ahmad Sharbafi
Summary: Passive prosthetic feet are unable to reproduce the full range of motion and push-off force of the human biological ankle. In this study, we propose a Hybrid-Hydraulic Ankle Prosthesis (H2AP) that offers a greater range of motion and push-off support compared to traditional carbon feet. The H2AP design includes a carbon foot and a hydraulic unit comprising of dorsiflexion and plantar flexion dampers, as well as a unidirectional spring. Mathematical analyses and simulations were used to optimize the design and replicate human ankle behavior during unimpaired walking. The pilot walking experiments with a transtibial amputee subject demonstrated the usability and functionality of the H2AP on level ground and a treadmill. The proposed design methodology can also be applied in the development of other assistive devices.
MECHANISM AND MACHINE THEORY
(2022)
Article
Biotechnology & Applied Microbiology
Qiaoli Ji, Zhihui Qian, Lei Ren, Luquan Ren
Summary: This paper studied the influence of impulsive ankle push-off on the walking speed of a biped robot, showing that it can effectively increase the speed of the robot by accelerating the swing leg and reducing the fluctuation of the center of mass instantaneous speed.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2021)
Article
Neurosciences
Lara Visch, Laura M. Oudenhoven, Sjoerd T. Timmermans, Heleen Beckerman, Marc B. Rietberg, Vincent de Groot, Marjolein M. van der Krogt
Summary: This study found that the energy cost of walking (ECw) is significantly increased in persons with multiple sclerosis (PwMS), and it is related to slower walking speed. Additionally, PwMS with higher ECw showed lower ankle power, indicating that ankle push-off may contribute to the increased ECw.
Article
Engineering, Biomedical
Y. L. Kerkum, W. Philippart, H. Houdijk
Summary: This study found that footplate stiffness of ankle-foot orthosis significantly affects ankle joint push-off power, with rigid footplate increasing ankle joint power. The proper footplate stiffness can optimize the efficacy of ankle-foot orthosis.
CLINICAL BIOMECHANICS
(2021)
Article
Biotechnology & Applied Microbiology
Haichun Wang, Yusen Wu, Jingxi Liu, Xiaolan Zhu
Summary: The push-off angle is an important factor affecting speed-skating performance, but there is incomplete quantitative evidence for the relationship between the push-off angle and foot injury. This study used a three-dimensional finite element model to investigate the mechanical responses of foot structures to stress and strain and explore the relationship between injury and movement.
BIOENGINEERING-BASEL
(2023)
Article
Physics, Fluids & Plasmas
Daniel Renjewski, Susanne Lipfert, Michael Guenther
Summary: This article proposes a mathematical model that captures the dynamics of human foot during walking and analyzes the functional interplay of biomechanical contributors. It identifies the foot as the key functional element in walking and provides insights for gait therapy, assistive device development, and humanoid robot design and control.
Article
Thermodynamics
Qiaoli Ji, Zhihui Qian, Lei Ren, Luquan Ren
Summary: The study investigates the effects of step length, ankle push-off torque, and timing on the walking speed and energy efficiency of biped robots. Results show the coordination of the amount of ankle push-off and push-off timing is crucial in achieving a more economical walking gait.
ADVANCES IN MECHANICAL ENGINEERING
(2021)
Article
Biotechnology & Applied Microbiology
Matej Tomc, Zlatko Matjacic
Summary: A novel rehabilitation device AN-EXTRA-Push was proposed, utilizing a brake and an elastic tendon to assist push-off by harnessing energy during stance phase and releasing it during push-off. The feasibility of the device was studied, with key parameters of brake engagement timing and elastic tendon stiffness determining the level of exoskeleton assistance. Insights from the study highlight the importance of timing in assistive torque, particularly the assistance termination determined by brake disengagement timing.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2022)
Article
Biophysics
M. van Mierlo, J. I. Ambrosius, M. Vlutters, E. H. F. van Asseldonk, H. van der Kooij
Summary: Healthy individuals recover angular momentum balance during walking by adjusting the moment arm of the ground reaction force with respect to the body's center of mass. The recovery of angular momentum balance is achieved by changing the direction of the ground reaction force vector, rather than through center of pressure modulation. The hip joint plays a crucial role in this recovery process. The regulation of angular momentum balance may take precedence over the recovery of linear momentum.
JOURNAL OF BIOMECHANICS
(2022)
Article
Chemistry, Analytical
Qiaoli Ji, Zhihui Qian, Lei Ren, Luquan Ren
Summary: This study focuses on determining the faster walking speed and the lowest energy efficiency of biped robots by using ankle push-off. The genetic algorithm is used to obtain the optimal torque curve during ankle push-off, resulting in the biped robot achieving maximum speed and high economy gait.
Article
Automation & Control Systems
Beomyeong Park, Jaeheung Park
Summary: This paper proposes a heel-toe walking method that can be used with the CoM trajectory generated using the MPC scheme. The stability of the MPC scheme is proved in this paper. The increase in step length and the decrease in singularity occurrence due to heel-toe walking were compared and analyzed in the simulation. The experiment verified the proposed heel-toe method.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2023)
Article
Chemistry, Analytical
Barbara Jasiewicz, Ewa Klimiec, Piotr Guzdek, Grzegorz Kolaszczynski, Jacek Piekarski, Krzysztof Zaraska, Tomasz Potaczek
Summary: This study used static and dynamic methods to assess foot loading and investigated the variations in foot pressure during different walking/running speeds. The results showed that the pressure applied to the foot during walking is similar among healthy volunteers, regardless of the pace.
Article
Biophysics
M. van Mierlo, M. Vlutters, E. H. F. van Asseldonk, H. van der Kooij
Summary: Spatiotemporal gait characteristics change during very slow walking, a relevant speed considering individuals with movement disorders or using assistive devices. However, we lack insights in how very slow walking affects human balance control. Therefore, we aimed to identify how healthy individuals use balance strategies while walking very slow. After perturbations of the WBLM, the centre of pressure placement was modulated using the ankle joint, while keeping the moment arm of the ground reaction force (GRF) with respect to the centre of mass (CoM) small. After the perturbations of the WBAM, a quick recovery was initiated, using the hip joint and adjusting the horizontal GRF to create a moment arm with respect to the CoM. These findings suggest no fundamental differences in the use of balance strategies at very slow walking compared to normal speeds. Still, as the gait phases last longer, this time was exploited to counteract perturbations in the ongoing gait phase.
JOURNAL OF BIOMECHANICS
(2023)
Article
Mathematics, Applied
Sainan Zhang, Jun Zhang, Mohcine Chraibi, Weiguo Song
Summary: The influence of walking preferences on pedestrian movements was investigated by proposing a modified collision-free speed model that considers pedestrians' expectations of comfortable walking. The model incorporates restrictions on walking directions to avoid collisions, leading to better performance in trajectory distribution and velocity profile compared to the original model. Additionally, the new model accurately simulates flow-width relations in bottleneck scenarios, demonstrating its effectiveness in pedestrian movement simulations.
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
(2021)
Article
Multidisciplinary Sciences
Nikolaos Papachatzis, Kota Z. Takahashi
Summary: This study aimed to understand the changes in foot work during walking on different slopes. The results showed that downhill walking increased the magnitude of negative and net-negative work of the foot, especially during the early stance phase. In contrast, uphill walking led to a shift from net energy dissipation to net energy generation in the ankle, knee, and hip joints.
Article
Automation & Control Systems
David Quintero, Anne E. Martin, Robert D. Gregg
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2018)
Article
Engineering, Manufacturing
Lawrence W. Funke, James P. Schmiedeler
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME
(2018)
Article
Engineering, Mechanical
Martin Fevre, Bill Goodwine, James P. Schmiedeler
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2019)
Article
Biophysics
Daniel S. Williams, Anne E. Martin
JOURNAL OF BIOMECHANICS
(2019)
Article
Robotics
Martin Fevre, Bill Goodwine, James P. Schmiedeler
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2019)
Article
Computer Science, Artificial Intelligence
Tan Chen, James P. Schmiedeler, Bill Goodwine
Article
Neurosciences
Dorothea J. Tsang, Meghan Lukac, Anne E. Martin
HUMAN MOVEMENT SCIENCE
(2019)
Article
Engineering, Mechanical
Daniel S. Williams, Anne E. Martin
Summary: This study presents a refined biped model with a finite-time, adaptive double support controller to improve disturbance rejection capabilities. It was found that in approximately half of the cases, the finite-time double support controller increased walking stability of the biped, but did not automatically increase disturbance rejection capabilities. Additionally, the timing and magnitude of perturbations can affect whether a finite-time double support period enhances stability.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Multidisciplinary Sciences
Amy Mitchell, Anne E. Martin
Summary: Understanding which aspects of gait increase fall risk is crucial for bipeds. This study investigates the effect of joint angle variability on falling and finds that the magnitude of the variability has the most significant impact, particularly the stance knee flexion variability magnitude.
Article
Multidisciplinary Sciences
Dave Schmitthenner, Anne E. Martin
Summary: This study inferred a human-like controller for a spring-loaded inverted pendulum (SLIP) model using experimental walking data and system identification techniques. Three methods were compared, with the linear system and SINDY system being the most accurate. The results suggest that nonlinear system identification techniques may not be necessary for studying unperturbed walking and that human control of normal walking may be approximately linear.
ROYAL SOCIETY OPEN SCIENCE
(2021)
Article
Multidisciplinary Sciences
Daniel Williams, Anne Martin
Summary: Falls are undesirable for both humans and robots, thus the need for fall prediction models. Various mechanics-based fall risk metrics have been proposed and validated, and when combined, they can accurately predict the number of steps to fall.
Proceedings Paper
Automation & Control Systems
Mengyao Li, Anne E. Martin
Summary: One way to accelerate fall prevention research is through the generation of synthetic gait data. In this study, a proof-of-concept method using a central pattern generator (CPG) and system identification techniques was explored to generate synthetic human gait data. Linear and nonlinear system identification were performed on the discrete system to capture the step-to-step variation in the experimental dataset. The resulting synthetic data had some similarity to the experimental data but did not fully replicate the experimental signal properties.
Proceedings Paper
Automation & Control Systems
Claire H. Rodman, Anne E. Martin
Summary: Foot shape plays a critical role in human and robot walking, impacting performance and efficiency. Modeling a biped with a nonuniform foot shape presents challenges in determining ankle position for deriving motion equations. This study demonstrates a method for finding motion equations of a planar biped with convex, continuously differentiable foot shapes, showing viability for simulating gait and matching human walking.
Article
Biophysics
Claire H. Rodman, Anne E. Martin
JOURNAL OF BIOMECHANICS
(2020)
Proceedings Paper
Automation & Control Systems
Tan Chen, James P. Schmiedeler, Bill Goodwine
2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)
(2018)
Article
Biophysics
Nathan D. Camarillo, Rafael Jimenez-Silva, Frances T. Sheehan
Summary: This article discusses the statistical dependence between multiple measurements from the same participant and provides recommendations for using these measurements when they are not independent.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
J. Huet, A. -S. Boureau, A. Sarcher, C. Cornu, A. Nordez
Summary: Standard compression in freehand 3D ultrasound induces a bias in volume calculations, but minimal compression and gel pad methods have similar results. With a trained examiner and precautions, the bias can be minimized and become acceptable in clinical applications.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
C. Lariviere, A. H. Eskandari, H. Mecheri, F. Ghezelbash, D. Gagnon, A. Shirazi-Adl
Summary: Recent developments in musculoskeletal modeling have focused on model customization. Personalization of the spine profile may affect estimates of spinal loading and stability. This study investigates the biomechanical consequences of changes in the spinal profile and finds that personalizing the spine profile has medium to large effects on trunk muscle forces and negligible to small effects on spinal loading and stability.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
Luke T. Mattar, Arash B. Mahboobin, Adam J. Popchak, William J. Anderst, Volker Musahl, James J. Irrgang, Richard E. Debski
Summary: Exercise therapy fails in about 25.0% of cases for individuals with rotator cuff tears, and one reason for this failure may be the inability to strengthen and balance the muscle forces that keep the humeral head in the correct position. This study developed computational musculoskeletal models to compare the net muscle force before and after exercise therapy between successfully and unsuccessfully treated patients. The study found that unsuccessfully treated patients had less inferiorly oriented net muscle forces, which may increase the risk of impingement.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
Natsuki Sado, Takeshi Edagawa, Toshihide Fujimori, Shogo Hashimoto, Yoshikazu Okamoto, Takahito Nakajima
Summary: The existing methods for predicting hip and lumbosacral joint centres in Japanese adults are biased and differ between sexes. We propose new regression equations that consider soft-tissue thickness, sex differences, and a height-directional measure, and validate them using leave-one-out cross-validation.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
Peimin Yu, Xuanzhen Cen, Qichang Mei, Alan Wang, Yaodong Gu, Justin Fernandez
Summary: This study aimed to explore the intra-foot biomechanical differences among individuals with chronic ankle instability (CAI), copers, and healthy individuals during dynamic tasks. The study found that copers and CAI individuals had smaller dorsiflexion angles and copers presented a more eversion position compared to healthy participants. Copers also had greater dorsiflexion angles in the metatarsophalangeal joint and more inversion moments in the subtalar joint during certain tasks. These findings can help in designing interventions to restore ankle joint functions in CAI individuals.
JOURNAL OF BIOMECHANICS
(2024)
Article
Biophysics
Jon Skovgaard Jensen, Anders Holsgaard-Larsen, Anders Stengaard Sorensen, Per Aagaard, Jens Bojsen-Moller
Summary: This study investigates the biomechanical effects of robot-assisted body weight unloading (BWU) on gait patterns in healthy young adults. The results show that dynamic robot-assisted BWU enables reduced kinetic requirements without distorting biomechanically normal gait patterns during overground walking.
JOURNAL OF BIOMECHANICS
(2024)