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Gait and Stance PDF
Gait and Stance PDF
In attempting to understand the processes of gaiting and to combine the models for the hips,
knee, and ankle together, Figure 16.3 displays the logic of a model. The pelvis, or the hips, is set as the
starting point with the ankle as the ending point. The hips would receive an input signal from the central nervous system (CNS) or the peripheral nervous system, which is dependent on the type of action
intended. Mainly for our model, input would come from the CNS; there will be no reflex reactions.
The hip would influence the knee, and in turn the knee would determine the reaction of the ankle. The
system of communication between the three components is in series with feedbacks coming out from
each of their respective outputs. The final output would be a change in displacement or position [3].
Several assumptions were made for the modeling. The whole gating process is assumed to
take place from the hips and down. The process for moving is totally isolated to just the coordination between the hips, knee, and ankle. There will also be no additional loads applied to the legs
other than the upper body. The legs will just be carrying the mass of the entire human body and
will not be subjected to external forces. The walking surface for the leg model is assumed to be a flat
surface with adequate friction coefficient for motion. Because the model focuses on the lower body,
FIGURE 16.3: The block diagram of the mechanical gaiting coordination system.
influence from the vestibular feedback input and visual perception are ignored. The legs are made
to act independently of their input. The arms will not be involved in balancing the body while in
motion. Also, the legs are assumed to be in two-dimensional motions.
The model is first broken into the common three components; the hips, knee, and ankle.
Each of these segments will be individually observed. Transfer functions were obtained for each
component. Laboratory Virtual Instrumentation Engineering Workbench (LabVIEW) virtual instruments (VIs) were also constructed to simulate the transfer functions responses, and then Bode
plots, root locus, and Nyquist plots were developed for each transfer function. Finally, all segments
were combined together to form an overall system that represent the entire leg. Again, LabVIEW
was used to simulate the entire legs response.
P (s) =
MgL
ksin( )
s
s + 1
2
where
L = length of thighbone = 48 cm = 0.48 m
M = mass of leg (men, 19.525.2 kg; women, 11.716.6 kg)
g = acceleration due to gravity (9.80 m/s2)
k = arm of the hip joint torque, estimated from diagram to be 70% of L =
33.6 cm
= estimated to be 10 (=0.175 rad), low angle so sin(): = 0.175
Figures 16.5 and 16.6 show the LabVIEW front panel view and block diagram, which contain the
control VIs used in developing the LabVIEW hip program.
nervous system to the spinal cord reporting a structural change (that is tendon length). The nervous
system then sends a signal back to the tendon to produce a reflex. There are receptors on the muscle
called spindles, which have their own dynamics and are shown in the model as a transfer function
in the feedback path. These spindles are modeled as a spring (Kpe) and damper (Bpe) in parallel, and
then with the pair in series with another spring (Kse).
Figure 16.8 is a commonly used block diagram to reason out the process of the knee,
where
S(s) =
For the feedback system,
1
Kse (Bpe s + K pe )
G(s) =
G(s)
1 + G(s)H(s)
Therefore,
G1 (s) =
1
Js
B
1+
Js
1
Js + B
1
Js 2 + Bs
G2 (s) =
= 2 1
Js + Bs + K
K
1+ 2
Js + Bs
where B = 2.4382, J = 0.19033, K = 42.361, Kpe = 4.7627, Bpe = 0.96703, and Kse = 0.10774.
Figures 16.9 and 16.10 show the LabVIEW front panel view and block diagram, which contain the control VIs used in developing the LabVIEW knee program.
G(s) =
(s)
=
T (s)
1
Js 2 + Bs + K
mgl
2
where
M(s) =
where
Kme Ds
1 + s
Ds
1
Kme
G1 (s) = M(s)G(s) =
mgl 1 + s
Js 2 + Bs + K
Ds
1
Km e
mgl 1 + s
Js 2 + Bs + K
G1 H (s) =
Ds
1
K me
Kp + Kd s
1+
mgl
2
1 + s
Js
+
Bs
+
K
1
=
1 + s
mgl
Js 2 + Bs + K
+ Kp + Kd s
2
Km e Ds
G2(s) = G1 H (s)
Ki
s
=
Js 2 + Bs + K
mgl
2
Ki
1 + s
Km e Ds
s + Kp s + Kd s 2
Ki
1 + s
2
s + Kp s + Kd s
Km e Ds
Gx (s) =
Ki
1+
1 + s
mgl
Js 2 + Bs + K
s + Kp s + Kd s 2
2
Km e Ds
Ki
=
1 + s
mgl
Js 2 + Bs + K
s + Kp s + Kd s 2 + Ki
2
Km e Ds
mgl
Js 2 + Bs + K
2
Figures 16.13 and 16.14 show the LabVIEW front panel view and block diagram, which
contain the control VIs used in developing the LabVIEW ankle program.
References
[1] Rose, J., and Gamble, J. G., Human Walking, 3rd ed., Lippincott Williams & Wilkins,
Philadelphia (2006).
[2] Giannini, S., Catani, F., Benedetti, M. G., and Leardini, A., Gait Analysis: Methodologies
and Clinical Applications, 1st ed., IOS P, Amsterdam, Netherlands (1994).
[3] Vaughan, C. L., Davis, B. L., and OConnor, J. C., Dynamics of Human Gait, Human Kinetics, Campaign, IL (1992).
[4] Muscato, G., and Spampinato, G., Kinematical model and control architecture for a human
inspired five DOF robotic leg, Mechatronics, 17, 4563 (2007), <http://www.sciencedirect
.com/science/article/B6V43-4KVXPKF-1/1/090b0a36e51f67445c5a4ceaad969241>, accessed 2 Apr. 2008.
[5] Kim, J.-Y., Park, I. W., and Oh, J.-H., Experimental realization of dynamic walking of the
biped, Adv. Robotics, 20, 707736 (2006).