| Presentation | 2017-03-13 Analysis of balance of walking based on simple and inverted pendulum models Takahiro Kagawa, Yoji Uno, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Analysis of gait stability is important to assess the risk of a fall in elderly people and people with gait disorders. In this study, we define desirable postures at heel strike, assuming that a ballistic walking is a good approximation of leg movements in human gait. Linear simple and inverted pendulums are applied to represent movements of the swing and stance legs during a swing phase. Introducing nondimensionalization of the position and time, we characterize the trajectories of swing and stance legs with two parameters: energy ratio and phase difference. Determining feasible ranges of the parameters, we illustrated the regions of backward and forward balance losses in the space of a nondimensinalized initial state of the inverted pendulum. Through gait measurement experiments, we examined how much margin the gait of normal subjects had for the forward and backward balance losses. In addition, we evaluated the energy ratio and phase difference in relation to the walking velocity. We measured gait patterns of normal subjects with three types of walking speed: slow, intermediate, and fast speed. All of the measured walking data showed sufficient margin from the forward and backward balance losses. We found that the average phase difference was slightly delayed which may improve the stability for a forward fall. On the other hand, the energy ratio increased with the walking velocity, and the margin became narrower. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Ballistic walking model / Gait analysis / fall |
| Paper # | MBE2016-86 |
| Date of Issue | 2017-03-06 (MBE) |
| Conference Information | |
| Committee | MBE / NC |
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| Conference Date | 2017/3/13(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kikai-Shinko-Kaikan Bldg. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Yutaka Fukuoka(Kogakuin Univ.) / Shigeo Sato(Tohoku Univ.) |
| Vice Chair | Kazuki Nakajima(Univ. of Toyama) / Masafumi Hagiwara(Keio Univ.) |
| Secretary | Kazuki Nakajima(Kogakuin Univ.) / Masafumi Hagiwara(Toyama Pref. Univ.) |
| Assistant | Ryota Horie(Shibaura Inst. of Tech.) / Kim Juhyon(Univ. of Toyama) / Hisanao Akima(Tohoku Univ.) / Yoshihisa Shinozawa(Keio Univ.) |
| Paper Information | |
| Registration To | Technical Committee on ME and Bio Cybernetics / Technical Committee on Neurocomputing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Analysis of balance of walking based on simple and inverted pendulum models |
| Sub Title (in English) | |
| Keyword(1) | Ballistic walking model |
| Keyword(2) | Gait analysis |
| Keyword(3) | fall |
| 1st Author's Name | Takahiro Kagawa |
| 1st Author's Affiliation | Nagoya University(Nagoya Univ.) |
| 2nd Author's Name | Yoji Uno |
| 2nd Author's Affiliation | Nagoya University(Nagoya Univ.) |
| Date | 2017-03-13 |
| Paper # | MBE2016-86 |
| Volume (vol) | vol.116 |
| Number (no) | MBE-520 |
| Page | pp.pp.21-26(MBE), |
| #Pages | 6 |
| Date of Issue | 2017-03-06 (MBE) |