Paper Abstract and Keywords |
Presentation |
2012-03-15 09:50
Evaluation of gait stability based on recovery for perturbation during walking Ayuro Tachibana, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2011-122 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
It is important to evaluate gait stability for preventing falling while walking.
We hypothesize that gait stability is depend on the speed of convergence after a perturbation, and propose a method to evaluate stability based on the speed of convergence.
We verify the hypothesis from our proposed method with computer simulation and measurement experiments of perturbed walking.
Our simulation of walking with different gain of PD controller indicate that the convergence of stable gait was faster than that of unstable gait.
Our measurement experiment results indicate that the speed of convergence of normal walking was faster than that of ankle-locked (unstable) walking when a few steps were required to recover perturbed walking.
These results suggest that our hypothesis is appropriate and that the proposed method is effective to evaluate gait stability based on the speed of convergence after perturbation. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Gait / Stability evaluation / Perturbation / Speed of convergence / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 111, no. 482, MBE2011-122, pp. 77-82, March 2012. |
Paper # |
MBE2011-122 |
Date of Issue |
2012-03-07 (MBE) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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MBE2011-122 |
Conference Information |
Committee |
MBE NC |
Conference Date |
2012-03-14 - 2012-03-16 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Tamagawa University |
Topics (in Japanese) |
(See Japanese page) |
Topics (in English) |
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Paper Information |
Registration To |
MBE |
Conference Code |
2012-03-MBE-NC |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Evaluation of gait stability based on recovery for perturbation during walking |
Sub Title (in English) |
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Keyword(1) |
Gait |
Keyword(2) |
Stability evaluation |
Keyword(3) |
Perturbation |
Keyword(4) |
Speed of convergence |
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1st Author's Name |
Ayuro Tachibana |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
Takahiro Kagawa |
2nd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Yoji Uno |
3rd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2012-03-15 09:50:00 |
Presentation Time |
25 minutes |
Registration for |
MBE |
Paper # |
MBE2011-122 |
Volume (vol) |
vol.111 |
Number (no) |
no.482 |
Page |
pp.77-82 |
#Pages |
6 |
Date of Issue |
2012-03-07 (MBE) |