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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (1) : 95-103     https://doi.org/10.1007/s11465-013-0357-4
RESEARCH ARTICLE |
An experimental analysis of human straight walking
Tao LI(), Marco CECCARELLI
Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy
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Abstract

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

Keywords human locomotion      walking gait      characterization      humanoid robot      biped robot     
Corresponding Authors: LI Tao,Email:taoli@unicas.it   
Issue Date: 05 March 2013
 Cite this article:   
Tao LI,Marco CECCARELLI. An experimental analysis of human straight walking[J]. Front Mech Eng, 2013, 8(1): 95-103.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-013-0357-4
http://journal.hep.com.cn/fme/EN/Y2013/V8/I1/95
Fig.1  A measuring system CATRASYS. (a) A scheme ( to are amplifiers; to are cable transducers; to are force sensors); (b) a zoomed view of the installation for cable transducer and force sensor; (c) a scheme of the inside structure of the cable transducer, []; (d) a scheme for the force sensor installation with acting force []
Fig.2  A 3-3 configuration of the end-effectors. (a) Scheme for trilateration; (b) an experimental layout ( to : base points of cables 1 to 6; -Cartesian coordinates frame, the origin of the frame coincides with the base point of the fifth cable, i.e. , -axis points at the walking direction, -axis points at the opposite direction as gravity; 1—sagittal plane; 2—transverse plane; 3—coronal plane)
Fig.3  Trajectories obtained after statistical elaboration as referring to the experiment carried out in Fig. 2(b). (a) A trajectory of the knee point; (b) a trajectory of the ankle point
Fig.4  Characterization model of the projections of trajectories in sagittal plane for the significant parameters that can be identified through a test as in Fig. 2(b). (a) Knee point; (b) ankle point
Fig.5  Projections of trajectories in transverse plane. (a) Knee point; (b) ankle point
Fig.6  Projections of the trajectories in coronal plane. (a) Knee point; (b) ankle point
Fig.7  Computed , , and components of velocity during the test in Fig. 2(b). (a) Velocity of the knee point; (b) velocity of the ankle point
Fig.8  Computed , , and components of acceleration during the test in Fig. 2(b). (a) Acceleration of the knee point; (b) acceleration of the ankle point
Fig.9  Computed , and components of force during the test in Fig. 2(b) for (a) knee point; (b) ankle point
Fig.10  Computed magnitude of the forces
Fig.11  Computed orientation of the shank
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