engleski

New Kinematic Parameters for Quantifying Irregularities in the Human and Humanoid Robot Gait

Gait patterns of humans and humanoid robots are  often described by analysing changes in angular  rotation of hip, knee and ankle joints during one gait cycle. Each joint displays specific behaviour and irregularities of the gait pattern could be detected by measuring  displacements from the normal rotation curve,   while small deviations of individual gait   characteristics are usually not easily detected.  In this paper, an advanced gait analysis method  is proposed, which incorporates analysis of angular data and its derivations of hip, knee, and ankle joints, presented in the phase plane.   The gait kinematics was measured using a system  based on active markers and fast digital cameras. The experiment included measurements on thirty   healthy, barefoot humans while walking on a   treadmill. We also simulated types of irregular   gait, by measurements on subjects wearing knee  constraints. The new kinematic parameters which  are introduced clearly indicated the discrepancy between normal, healthy gait trials  and irregular gait trials. The proposed  gait   factor parameter is a valuable measure for the   detection of irregularities in gait patterns  of humans and humanoid robots.

biomechanics; human gait; irregular human gait; kinematics; humanoid gait

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