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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
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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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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)  
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)  
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
Date of Issue 2012-03-07 (MBE) 


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