An experimental analysis of human straight walking

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

References

[1] Kedzior K, Morecki A. Biomechanics of Musculoskeletal System-Medical Robotics. Lecture Notes of the ICB Seminars. Warsaw: Polish Academy of Science, 2000, 46: 199–208

[2] Adrian M, Cooper J. Biomechanics of Human Movement. Indianapolis: Benchmark Press, 1995

[3] Eberhart H D. Fundamental studies of human locomotion and other information relating to design of artificial limbs. Subcontractors’ Report to National Council, Berkeley, California, 1947

[4] Inman V T, Ralston H J, Todd F. In: Lieberman J C, ed. Human Walking. Baltimore: Williams & Wilkins, 1981

[5] Marey E J. La photographie du mouvement. Catalogue de l’exposition du Musee National d’Art Moderne Centre Georges Pompidou. In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures. Promograph, Rome, 1977-1978, 88

[6] Muybridge. Complete human and animal locomotion (all 781 plates from the 1887 animal locomotion). In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures. Promograph, Rome, 1979, 69

[7] Braune W, Fischer O. Determination of the moments of inertia of the human body and its limbs. In: Cappozzo A, Marchetti M, Tosi V, eds. Biolocomotion: A Century of Research Using Moving Pictures. Promograph, Rome, 1988, 125

[8] Noonan D, Mountney P, Elson D, Darzi A, Yang G Z. A stereoscopic fibroscope for camera motion and 3D depth recovery during minimally invasive surgery. In: Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009, 4463–4468

[9] Jonsson H, Kärrholm J. Three-dimensional knee joint movements during a step-up: Evaluation after anterior cruciate ligament rupture. Journal of Orthopaedic Research, 1994, 12(6): 769–779

[10] Stiehl J B, Komistek R D, Dennis D A, Paxson R D, Hoff W A. Fluoroscopic analysis of kinematics after posterior-cruciate-retaining knee arthroplasty. Journal of Bone and Joint Surgery, 1995, 77(6): 884–889

[11] Banks S A, Hodge W A. Accurate measurement of three-dimensional knee replacement kinematics using single-plane fluoroscopy. IEEE Transactions on Bio-Medical Engineering, 1996, 43(6): 638–649

[12] Holden J P, Orsini J A, Siegel K L, Kepple T M, Gerber L H, Stanhope S J. Surface movements errors in shank kinematics and knee kinetics during gait. Gait & Posture, 1997, 5(3): 217–227

[13] Rose J, Gamble J G. Human Walking. 3rd ed. Philadelphia: Lippincott Williams & Wilkins, 2006

[14] Abernethy B, Hanrahan S J, Kippers V, Machinnon L T, Pandy M G. The Biophysical Foundations of Human Movement. 2nd ed. Ann Arbor: Edwards Brothers, 2005

[15] Andriacchi T P, Alexander E J. Studies of human locomotion: Past, present and future. Journal of Biomechanics, 2000, 33(10): 1217–1224

[16] Boutin L, Eon A, Zeghloul S, Lacouture P. An auto-adaptable algorithm to generate human-like locomotion for different humanoid robots based on motion capture data. In: Proceedings of International Conference on Intelligent Robots and Systems (IROS), 2010, 1256–1261

[17] Lim C K, Luo Z Q, Chen I M, Yeo S H. A low cost wearable optical-based goniometer for human joint monitoring. Frontiers of Mechanical Engineering, 2011, 6(1): 13–22

[18] Ceccarelli M. The historical development of CATRASYS—A cable system. In: Explorations in the History of Machines and Mechanisms. Book series on History of Machines and Machine Science. Dordrecht: Springer, 2012, 15: 365–379

[19] Ceccarelli M, Toti M E, Ottaviano E. CATRASYS (Cassino Tracking System): A new measuring system for workspace evaluation of robots. In: Proceedings of the 8th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD’99. Munich, 1999, 19–24

[20] Ceccarelli M, Ottaviano E, Toti M. Experimental determination of robot workspace by means of CATRASYS (Cassino Tracking System). In: Proceedings of the 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. Wien, 2000, 85–92

[21] Ottaviano E, Ceccarelli M, Toti M, Carrasco C A. CATRASYS (Cassino Traking System): A wire system for experimental evaluation of robot workspace. Fuji International Journal of Robotics and Mechatronics, 2002, 14(1): 78–87

[22] Ottaviano E, Ceccarelli M, Palmucci F. An application of CATRASYS, a cable-based parallel measuring system for an experimental characterization of human walking. Robotica, 2010, 28: 119–133

[23] Li T, Ceccarelli M. A characterization of human locomotion by CATRASYS (Cassino Tracking System). New Trends in Mechanism and Machine Science, Mechanisms and Machine Science, 2013, 7: 469–477

[24] Ottaviano E, Ceccarelli M, Palmucci F. Experimental identification of kinematic parameters and joint mobility of human limbs. In: Proceedings of the 2nd World Congress on Design and Modeling of Mechanical System, Monastir, Tunisia, 2007

RIGHTS & PERMISSIONS

Higher Education Press and Springer-Verlag Berlin Heidelberg