ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2016
Incorporating Human-like Walking Variability in an HZD-Based Bipedal Model.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Quantifying the effect of sagittal plane joint angle variability on bipedal fall risk.PloS one · 2022Article
- Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2018Article
- Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses.IEEE transactions on automatic control · 2017Article
- Characterizing and modeling the joint-level variability in human walking.Journal of biomechanics · 2016Article
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Authors and funding
2 authors.
Funding
Abstract
Predictive simulations of human walking could be used to investigate a wide range of questions. Promising moderately complex models have been developed using the robotics control technique hybrid zero dynamics (HZD). Existing simulations of human walking only consider the mean motion, so they cannot be used to investigate fall risk, which is correlated with variability. This work determines how to incorporate human-like variability into an HZD-based healthy human model to generate a more realistic gait. The key challenge is determining how to combine the existing mathematical description of variability with the dynamic model so that the biped is still able to walk without falling. To do so, the commanded motion is augmented with a sinusoidal variability function and a polynomial correction function. The variability function captures the variation in joint angles while the correction function prevents the variability function from growing uncontrollably. The necessity of the correction function and the improvements with a reduction of stance ankle variability are demonstrated via simulations. The variability in temporal measures is shown to be similar to experimental values.
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Registered trials
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