A Multi-metric Modular Framework for Human-like Gait Analysis Based on a Recorded Set of Variable Gait Patterns

S. Kapteijn, Wansoo Kim, L. Marchal Crespo, L. Peternel*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Abstract

Walking is an essential part of almost all activities of daily living. We use different gait patterns in different situations, e.g., moving around the house, performing various sports, or when compensating for an injury. However, how humans perform this gait tailoring remains a partially unknown process. To this end, the influence of various performance metrics on the optimality and diversity of gait patterns can provide us with more insight. To analyse gait in terms of pattern diversity and performance metrics related to physical aspects, such as joint torque, fatigue, and manipulability, we propose a multi-metric gait analysis framework that simultaneously accounts for these parameters. We used a recorded set of versatile gait patterns that are already dynamically stable and physiologically feasible. To that end, 45 gait variations-varying in stride length, step height, and walking speed-were recorded in a motion capture experiment. Results of analysis using the recorded dataset are presented for a baseline case (with all optimisation weights set to one), which serves as the first step for future research, in particular giving insights into specific aspects of the gait, e.g., joint loading, long-term performance, and capacity to sustain ground reaction forces.
Original languageEnglish
Title of host publicationProceedings of the 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
PublisherIEEE
Pages53-59
ISBN (Print)978-8-3503-0979-9
DOIs
Publication statusPublished - 2022
EventHumanoids 2022 IEEE-RAS 21st International Conference on Humanoid Robots - Okinawa, Japan
Duration: 28 Nov 202230 Nov 2022

Conference

ConferenceHumanoids 2022 IEEE-RAS 21st International Conference on Humanoid Robots
Country/TerritoryJapan
CityOkinawa
Period28/11/2230/11/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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