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Journal articles on the topic 'Gait in humans – Computer simulation'

Author: Grafiati

Published: 4 June 2021

Last updated: 16 February 2022

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Ren, Bin, Jianwei Liu, and Jiayu Chen. "Simulating human–machine coupled model for gait trajectory optimization of the lower limb exoskeleton system based on genetic algorithm." International Journal of Advanced Robotic Systems 17, no. 1 (2020): 172988141989349. http://dx.doi.org/10.1177/1729881419893493.

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The lower limb exoskeleton robot is capable of providing assisted walking and enhancing exercise ability of humans. The coupling human–machine model has attracted a lot of research efforts to solve the complex dynamics and nonlinearity within the system. This study focuses on an approach of gait trajectory optimization of lower limb exoskeleton coupled with human through genetic algorithm. The human–machine coupling system is studied in this article through multibody virtual simulation environment. Planning of the motion trajectory is carried out by the genetic algorithm, which is iteratively generated under optimization of a set of specially designed fitness functions. Human motion captured data are used to guide the evolution of gait trajectory generation method based on genetic algorithm. Experiments are carried out using the MATLAB/Simulink Multibody physical simulation engine and genetic algorithm-toolbox to generate a more natural gait trajectory, the results show that the proposed gait trajectory generation method can provide an anthropomorphic gait for lower limb exoskeleton device.

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Galarraga, O. C., V. Vigneron, N. Khouri, B. Dorizzi, and E. Desailly. "Predictive simulation of surgery effect on cerebral palsy gait." Computer Methods in Biomechanics and Biomedical Engineering 20, sup1 (2017): S85—S86. http://dx.doi.org/10.1080/10255842.2017.1382873.

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Yuan, Li Peng, Li Ming Yuan, and Hong Ying Lu. "M Optimized Multi Virtual Gravity." Applied Mechanics and Materials 214 (November 2012): 903–8. http://dx.doi.org/10.4028/www.scientific.net/amm.214.903.

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A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, we just consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed optimized virtual passive control laws This is also a simple and effective gait-generation method based on this kneed walker model, which imitates the energy and torque behaviors in every walking cycle. Following the proposed method, we use computer optimization to find which gaits are indeed energetically optimal for this model. We prove some walking rules maybe true by the results of simulations and experiments on the existing walking robot.

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Olenšek, Andrej, and Zlatko Matjačić. "Human-like control strategy of a bipedal walking model." Robotica 26, no. 3 (2008): 295–306. http://dx.doi.org/10.1017/s0263574707004055.

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SUMMARYThis paper presents a two-level control strategy for bipedal walking mechanism that accounts for implicit control of push-off on the between-step control level and tracking of imposed holonomic constraints on kinematic variables via feedback control on within-step control level. The proposed control strategy was tested in a biologically inspired model with minimal set of segments that allows evolution of human-like push-off and power absorption. We investigated controller's stability characteristics by using Poincaré return map analysis in eight simulation cases and further evaluated the performance of the biped walking model in terms of how variations in torso position and gait velocity relate to push-off and power absorption. The results show that the proposed control strategy, with the same set of controller's gains, enables stable walking in a variety of chosen gait parameters and can accommodate to various trunk inclinations and gait velocities in a similar way as seen in humans.

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Crompton, Robin H., Todd C. Pataky, Russell Savage, et al. "Human-like external function of the foot, and fully upright gait, confirmed in the 3.66 million year old Laetoli hominin footprints by topographic statistics, experimental footprint-formation and computer simulation." Journal of The Royal Society Interface 9, no. 69 (2011): 707–19. http://dx.doi.org/10.1098/rsif.2011.0258.

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It is commonly held that the major functional features of the human foot (e.g. a functional longitudinal medial arch, lateral to medial force transfer and hallucal (big-toe) push-off) appear only in the last 2 Myr, but functional interpretations of footbones and footprints of early human ancestors (hominins) prior to 2 million years ago (Mya) remain contradictory. Pixel-wise topographical statistical analysis of Laetoli footprint morphology, compared with results from experimental studies of footprint formation; foot-pressure measurements in bipedalism of humans and non-human great apes; and computer simulation techniques, indicate that most of these functional features were already present, albeit less strongly expressed than in ourselves, in the maker of the Laetoli G-1 footprint trail, 3.66 Mya. This finding provides strong support to those previous studies which have interpreted the G-1 prints as generally modern in aspect.

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Boukheddimi, M., F. Bailly, P. Soueres, and B. Watier. "Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control." Computer Methods in Biomechanics and Biomedical Engineering 22, sup1 (2019): S408—S410. http://dx.doi.org/10.1080/10255842.2020.1714962.

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Widodo, Romy Budhi, and Chikamune Wada. "Artificial Neural Network Based Step-Length Prediction Using Ultrasonic Sensors from Simulation to Implementation in Shoe-Type Measurement Device." Journal of Advanced Computational Intelligence and Intelligent Informatics 21, no. 2 (2017): 321–29. http://dx.doi.org/10.20965/jaciii.2017.p0321.

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Step-length measurement as a spatial gait parameter is useful for the physician and physical therapist for determining the patient’s gait condition. We hypothesized that this could be determined using ultrasonic sensors mounted on a shoe-type measurement device. For that purpose, we have developed a shoe-type measurement device to measure gait parameters. Our system was found to effectively measure step-length and pressure distribution. However, we found that the presence of shoes leads to perishable and fragile conditions for the sensors. Therefore, we redesigned the number, angle, and range of the ultrasonic sensors mounted on the shoes in order to clarify and improve the step-length prediction. This paper discusses the improvement of a shoe-type measurement device from the implementation with real shoes and the step-length prediction using an artificial neural network (ANN). The results of the experiment show that the number, angle, and positioning of ultrasonic sensors affect their ability to capture the human step region, that is, 50×70 cm under the experimental condition of foot progression angle up to 30 degrees. The results of the predictive performance of step-length using the proposed ANN architecture demonstrate an improvement.

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Kino, Hitoshi, Kosuke Sakata, Mitsunori Uemura, and Naofumi Mori. "Simulation verification for the robustness of passive compass gait with a joint stiffness adjustment." Advanced Robotics 33, no. 21 (2019): 1129–43. http://dx.doi.org/10.1080/01691864.2019.1671894.

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Ajayi, Michael Oluwatosin, Karim Djouani, and Yskandar Hamam. "Interaction Control for Human-Exoskeletons." Journal of Control Science and Engineering 2020 (June 26, 2020): 1–15. http://dx.doi.org/10.1155/2020/8472510.

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In this work, a general concept of the human-exoskeleton compatibility and interaction control is addressed. Rehabilitation, as applied to humans with motor control disorder, involves repetitive gait training in relation to lower limb extremity and repetitive task training in relation to upper limb extremity. It is in this regard that exoskeletal systems must be kinematically compatible with those of the subject in order to guarantee that the subject is being trained properly. The incompatibility between the wearable robotic device and the wearer results in joint misalignment, thus introducing interaction forces during movement. This, therefore, leads to the introduction of the need for interaction control in wearable robotic devices. Human-exoskeleton joint alignment is an uphill task; hence, measures to actualize this in order to guarantee the safety and comfort of humans are necessary. These measures depend on the types of joints involved in the rehabilitation or assistive process. Hence, several upper and lower extremity exoskeletons with concepts relating to interaction forces reduction are reviewed. The significant distinction in the modelling strategy of lower and upper limb exoskeletons is highlighted. Limitations of certain exoskeletal systems which may not allow the application of interaction control are also discussed.

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Hussain, Shahid, Prashant K. Jamwal, and Mergen H. Ghayesh. "Effect of body weight support variation on muscle activities during robot assisted gait: a dynamic simulation study." Computer Methods in Biomechanics and Biomedical Engineering 20, no. 6 (2017): 626–35. http://dx.doi.org/10.1080/10255842.2017.1282471.

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Miller, Ross H., Brian R. Umberger, Joseph Hamill, and Graham E. Caldwell. "Evaluation of the minimum energy hypothesis and other potential optimality criteria for human running." Proceedings of the Royal Society B: Biological Sciences 279, no. 1733 (2011): 1498–505. http://dx.doi.org/10.1098/rspb.2011.2015.

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A popular hypothesis for human running is that gait mechanics and muscular activity are optimized in order to minimize the cost of transport (CoT). Humans running at any particular speed appear to naturally select a stride length that maintains a low CoT when compared with other possible stride lengths. However, it is unknown if the nervous system prioritizes the CoT itself for minimization, or if some other quantity is minimized and a low CoT is a consequential effect. To address this question, we generated predictive computer simulations of running using an anatomically inspired musculoskeletal model and compared the results with data collected from human runners. Three simulations were generated by minimizing the CoT, the total muscle activation or the total muscle stress, respectively. While all the simulations qualitatively resembled real human running, minimizing activation predicted the most realistic joint angles and timing of muscular activity. While minimizing the CoT naturally predicted the lowest CoT, minimizing activation predicted a more realistic CoT in comparison with the experimental mean. The results suggest a potential control strategy centred on muscle activation for economical running.

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Gembalczyk, Grzegorz, Piotr Gierlak, and Slawomir Duda. "Modeling and Control of an Underactuated System for Dynamic Body Weight Support." Applied Sciences 11, no. 3 (2021): 905. http://dx.doi.org/10.3390/app11030905.

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This article concerns the stability analysis of a control system for a dynamic body weight support system in a rehabilitation device for the re-education of human gait. The paper presents a physical model of the device, which characterizes the most important physical phenomena associated with the movement of the system, i.e., inertia, damping, and elasticity. The device has one active and one passive element. They are connected by a connector with elastic and damping properties. This solution provides the kinematic chain required due to interactions with humans, while at the same time ensures that the device is an underactuated system. The article also presents the methodology used to verify the stability of the control system while acting as an active body weight support system. The paper formulates the mathematical model of the system that was used in the synthesis of control using the Lyapunov theory of stability. The results of simulation and experimental tests are also presented.

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Yin, Hang, Anastasia Varava, and Danica Kragic. "Modeling, learning, perception, and control methods for deformable object manipulation." Science Robotics 6, no. 54 (2021): eabd8803. http://dx.doi.org/10.1126/scirobotics.abd8803.

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Perceiving and handling deformable objects is an integral part of everyday life for humans. Automating tasks such as food handling, garment sorting, or assistive dressing requires open problems of modeling, perceiving, planning, and control to be solved. Recent advances in data-driven approaches, together with classical control and planning, can provide viable solutions to these open challenges. In addition, with the development of better simulation environments, we can generate and study scenarios that allow for benchmarking of various approaches and gain better understanding of what theoretical developments need to be made and how practical systems can be implemented and evaluated to provide flexible, scalable, and robust solutions. To this end, we survey more than 100 relevant studies in this area and use it as the basis to discuss open problems. We adopt a learning perspective to unify the discussion over analytical and data-driven approaches, addressing how to use and integrate model priors and task data in perceiving and manipulating a variety of deformable objects.

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Ueno, Keisuke, Shuhei Kawamura, and Mingcong Deng. "Operator-Based Nonlinear Control for a Miniature Flexible Actuator Using the Funnel Control Method." Machines 9, no. 2 (2021): 26. http://dx.doi.org/10.3390/machines9020026.

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Recently, the studies of soft actuators have been getting increased attention among various fields. Soft actuators are very safe for fragile objects and have an affinity to humans because they are composed of flexible materials. A miniature flexible actuator is a kind of pneumatically driven soft actuator. It has a bellowed shape and asymmetrical structure. This shape can generate a curling motion in two ways under positive and negative pressures with only one air tube. In the previous article, a control system using adaptive λ-tracking control was proposed. This control gain can become too large as time tends to infinity because the adaptive law exhibits a non-decreasing gain. To solve this problem, the funnel control method is proposed. The adaptive gain of this method not only increases but also decreases; however, the design scheme of the boundary function which is needed to decide on adaptive gain is not proposed here. In this article, an operator-based nonlinear control system’s design and the design scheme of the boundary function using an observer are proposed. Then, the effectiveness of the proposed method is verified by a simulation and an experiment.

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Krishnan, Megha G., Abhilash T. Vijayan, and Ashok Sankar. "Performance enhancement of two-camera robotic system using adaptive gain approach." Industrial Robot: the international journal of robotics research and application 47, no. 1 (2019): 45–56. http://dx.doi.org/10.1108/ir-08-2019-0174.

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Purpose This paper aims to improve the performance of a two-camera robotic feedback system designed for automatic pick and place application by modifying its velocity profile during switching of control. Design/methodology/approach Cooperation of global and local vision sensors ensures visibility of the target for a two-camera robotic system. The master camera, monitoring the workspace, guides the robot such that image-based visual servoing (IBVS) by the eye-in-hand camera transcends its inherent shortcomings. A hybrid control law steers the robot until the system switches to IBVS in a region proven for its asymptotic stability and convergence through a qualitative overview of the scheme. Complementary gain factors can ensure a smooth transition in velocity during switching considering the versatility and range of the workspace. Findings The proposed strategy is verified through simulation studies and implemented on a 6-DOF industrial robot ABB IRB 1200 to validate the practicality of adaptive gain approach while switching in a hybrid visual feedback system. This approach can be extended to any control problem with uneven switching surfaces or coarse/fine controllers which are subjected to discrete time events. Practical implications In complex workspace where robots operate in parallel with other robots/humans and share workspaces, the supervisory control scheme ensures convergence. This study proves that hybrid control laws are more effective than conventional approaches in unstructured environments and visibility constraints can be overcome by the integration of multiple vision sensors. Originality/value The supervisory control is designed to combine the visual feedback data from eye-in-hand and eye-to-hand sensors. A gain adaptive approach smoothens the velocity characteristics of the end-effector while switching the control from master camera to the end-effector camera.

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Gilchrist, L. A., and D. A. Winter. "A multisegment computer simulation of normal human gait." IEEE Transactions on Rehabilitation Engineering 5, no. 4 (1997): 290–99. http://dx.doi.org/10.1109/86.650281.

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Huang, P. S., C. J. Harris, and M. S. Nixon. "Recognising humans by gait via parametric canonical space." Artificial Intelligence in Engineering 13, no. 4 (1999): 359–66. http://dx.doi.org/10.1016/s0954-1810(99)00008-4.

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Maroger, I., O. Stasse, and B. Watier. "Comparison of human experimental trajectories and simulations during gait." Computer Methods in Biomechanics and Biomedical Engineering 23, sup1 (2020): S189—S191. http://dx.doi.org/10.1080/10255842.2020.1813421.

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Nerakae, Krissana, and Hiroshi Hasegawa. "Bigtoe Sizing Design of Small Biped Robot by Using Gait Generation Method." Applied Mechanics and Materials 541-542 (March 2014): 1079–86. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.1079.

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The study of biped robot has long history and continuation. One of important moving processes is walking procedure. The walking posture is an important research field that always adapts and implements in the biped robot. The walking research field is very interesting because the walking posture of humans is flexible and stable. Additionally, the force that affect on the humans foot is also investigated. This research addresses the walking simulation of small biped robots that have tiptoe and bigtoe. The study based on the assumption that the bigtoe size affects on the walking posture and walking distance. The gait generation method, for finding the proper size of bigtoe, is utilized by varying the bigtoe size. There are two requirements of robot design: go straight and stay within setting conditions. The simulation results of all small biped robot models which have the different bigtoe sizes can walk within setting conditions. There is only one model its bigtoe width per foot width ratio equals 0.28 (or 28% of foot width) has the longest walking distance. Moreover, this ratio is equal to the ratio of humans foot.

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Samangooei, Sina, and Mark S. Nixon. "Performing content-based retrieval of humans using gait biometrics." Multimedia Tools and Applications 49, no. 1 (2009): 195–212. http://dx.doi.org/10.1007/s11042-009-0391-8.

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Delp, Scott L., Peter Loan, Cagatay Basdogan, and Joseph M. Rosen. "Surgical Simulation: An Emerging Technology for Training in Emergency Medicine." Presence: Teleoperators and Virtual Environments 6, no. 2 (1997): 147–59. http://dx.doi.org/10.1162/pres.1997.6.2.147.

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The current methods of training medical personnel to provide emergency medical care have several important shortcomings. For example, in the training of wound debridement techniques, animal models are used to gain experience treating traumatic injuries. We propose an alternative approach by creating a three-dimensional, interactive computer model of the human body that can be used within a virtual environment to learn and practice wound debridement techniques and Advanced Trauma Life Support (ATLS) procedures. As a first step, we have developed a computer model that represents the anatomy and physiology of a normal and injured lower limb. When visualized and manipulated in a virtual environment, this computer model will reduce the need for animals in the training of trauma management and potentially provide a superior training experience. This article describes the development choices that were made in implementing the preliminary system and the challenges that must be met to create an effective medical training environment.

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M.T., Aju. "Modeling and Simulation of Hexapod Kinematics with Central Pattern Generator." IAES International Journal of Robotics and Automation (IJRA) 5, no. 2 (2016): 72. http://dx.doi.org/10.11591/ijra.v5i2.pp72-86.

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<span>The revealed secrets of nature always led humans to their aspiring achievements. The fastest animal on land is Cheetah and similar robot has developed by engineers so far to attain a record speed of 20mph among legged robots. But in nature there are some insects those are far ahead of cheetah in speed with a unit of body length per second. Insects are small in their body size with legs usually countable from 4 to 12 or more. With more legs they can have more stability and can adapt to different terrain faster while walking. Six legged robot (hexapod) is generally expect to attain higher speed in terms of body length per second, since the nature has proof for it. Bio-inspired Central Pattern Generator (CPG) is in use for so far in robotic world to mimic the locomotion patterns of insects and other animals. Currently the hybrid controller of CPG and reflex is going on and this paper suggests a new architecture for the system. Neural Network modeled CPG acts as the motor neuron for each joint of the leg. In each instant a neural network models the gait of the robot by learning procedure from the reflex system. This is like the Central Nervous System (CNS) selecting gait of an animal according to the terrain that travels. CNS takes sensory feedback from eyes, force on each leg and body balance from cochlea to adapt the gait for current terrain. This paper in first place tries to simulate the gait patterns for a hexapod.</span>

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Jati, Agung Nugroho, Astri Novianty, Nanda Septiana, and Leni Widia Nasution. "Comparison Analysis of Gait Classification For Human Motion Identification Using Embedded Computer." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 6 (2018): 5014. http://dx.doi.org/10.11591/ijece.v8i6.pp5014-5020.

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In this paper, it will be discussed about comparison between two kinds of classification methods in order to improve security system based of human gait. Gait is one of biometric methods which can be used to identify person. K-Nearest Neighbour has parallelly implemented with Support Vector Machine for classifying human gait in same basic system. Generally, system has been built using Histogram and Principal Component Analysis for gait detection and its feature extraction. Then, the result of the simulation showed that K-Nearest Neighbour is slower in processing and less accurate than Support Vector Machine in gait classification.

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Lima, José L., José A. Gonçalves, Paulo G. Costa, and A. Paulo Moreira. "Humanoid Gait Optimization Resorting to an Improved Simulation Model." International Journal of Advanced Robotic Systems 10, no. 1 (2013): 67. http://dx.doi.org/10.5772/54766.

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Ivanenko, Yuri P., Francesca Sylos Labini, Germana Cappellini, Velio Macellari, Joseph McIntyre, and Francesco Lacquaniti. "Gait transitions in simulated reduced gravity." Journal of Applied Physiology 110, no. 3 (2011): 781–88. http://dx.doi.org/10.1152/japplphysiol.00799.2010.

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Gravity has a strong effect on gait and the speed of gait transitions. A gait has been defined as a pattern of locomotion that changes discontinuously at the transition to another gait. On Earth, during gradual speed changes, humans exhibit a sudden discontinuous switch from walking to running at a specific speed. To study the effects of altered gravity on both the stance and swing legs, we developed a novel unloading exoskeleton that allows a person to step in simulated reduced gravity by tilting the body relative to the vertical. Using different simulation techniques, we confirmed that at lower gravity levels the transition speed is slower (in accordance with the previously reported Froude number ∼0.5). Surprisingly, however, we found that at lower levels of simulated gravity the transition between walking and running was generally gradual, without any noticeable abrupt change in gait parameters. This was associated with a significant prolongation of the swing phase, whose duration became virtually equal to that of stance in the vicinity of the walk-run transition speed, and with a gradual shift from inverted-pendulum gait (walking) to bouncing gait (running).

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Courgeon, Matthieu, Gilles Rautureau, Jean-Claude Martin, and Ouriel Grynszpan. "Joint Attention Simulation Using Eye-Tracking and Virtual Humans." IEEE Transactions on Affective Computing 5, no. 3 (2014): 238–50. http://dx.doi.org/10.1109/taffc.2014.2335740.

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Mpeshe, Saul C. "Fractional-Order Derivative Model of Rift Valley Fever in Urban Peridomestic Cycle." Discrete Dynamics in Nature and Society 2021 (May 27, 2021): 1–11. http://dx.doi.org/10.1155/2021/2941961.

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Rift Valley fever is a zoonotic disease which is mainly transmitted by mosquitoes and has potential to affect humans and animals. To gain some understanding on its dynamics in an urban peridomestic cycle, a fractional-order derivative model is formulated and analysed. The basic reproduction number ℛ 0 is computed and used in analysing the stability of disease when an outbreak occurs. Numerical simulations are performed in order to the variation of each population at order α = 1,0.75 , 0.5 , and 0.25. Results from simulations show that there is an increase in susceptible and exposed population in both human and mosquitoes as the value of α decreases. The infected population decreases with a decrease in the value of α . However, a rapid increase in susceptible mosquitoes is observed just after the first 30 days and a rapid decrease in infected human and mosquitoes after the first 30 days for α = 1 . Hence, fractional-order derivative also plays a significant role in providing insight on disease transmission and dynamics.

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Wang, Xu, and Xin Ma. "Preliminary results of the “four-dimensional six degrees-of-freedom” gait simulation system improvement." Foot & Ankle Orthopaedics 3, no. 3 (2018): 2473011418S0051. http://dx.doi.org/10.1177/2473011418s00510.

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Category: Basic Sciences/Biologics Introduction/Purpose: Using computer-controlled electro-hydraulic servo technology, we studied the improved “four-dimensional six degrees-of-freedom” gait simulation system based on motor and hydraulic hybrid drive control and achieved the human body’s normal gait cycle with fresh cadavers Methods: Through the superimposed combination of a composite servo motor drive mechanism, a highly precise “four-dimensional six degrees-of-freedom” at the tibia could be achieved using fresh cadavers below the knee. At the same time, ten sets of independently controlled electro-hydraulic servo hydraulic cylinders were used to achieve the mechanical loading of the tendon and tibia to reproduce the dynamic and kinematic parameters of the normal gait cycle with the cadaver model Results: The time for the system to complete a gait cycle was controlled at approximately three seconds. The coordinate motion curve of the tibia in the six degrees-of-freedom space was consistent with the M curve of the normal gait cycle, and the measurement results of plantar stress were similar to the measurement curves of the normal gait cycle. Conclusion: The improved “four-dimensional six degrees-of-freedom” gait simulation system successfully reproduced a gait cycle that was the closest to the normal gait cycle among all existing research.

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Yamamoto, Masataka, Koji Shimatani, Hitoshi Okano, and Hiroshi Takemura. "Effect of Ankle-Foot Orthosis Stiffness on Muscle Force During Gait Through Mechanical Testing and Gait Simulation." IEEE Access 9 (2021): 98039–47. http://dx.doi.org/10.1109/access.2021.3095530.

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Ishikawa, Tomo, Koji Makino, Junya Imani, and Yasuhiro Ohyama. "Gait Motion Planning for a Six Legged Robot Based on the Associatron." Journal of Advanced Computational Intelligence and Intelligent Informatics 18, no. 2 (2014): 135–39. http://dx.doi.org/10.20965/jaciii.2014.p0135.

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This research addresses a gait motion planning problem for a six-legged robot walking on an irregular field. In this proposal, we used a simplified neural network model called an Associatron that recalls total motion patterns sequentially frompartial information. The Associatron is used here because it is more effective and adaptable than conventional methods. Using the proposed method, the robot is expected to walk in unknown fields. After verifying planning using an Open Dynamics Engine (ODE) by using simulations, we found that memorized patterns are recalled from developed patterns. We then conducted experiments using a real developed robot. Experiment results show that, when using the proposed planning method, the robot selects suitable gait motion patterns in the presence of an obstacle.

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Hůlka, Tomáš, Radomil Matoušek, Ladislav Dobrovský, Monika Dosoudilová, and Lars Nolle. "Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design." MENDEL 26, no. 1 (2020): 1–6. http://dx.doi.org/10.13164/mendel.2020.1.001.

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This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

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Bradford, J. Cortney, Jamie R. Lukos, and Daniel P. Ferris. "Electrocortical activity distinguishes between uphill and level walking in humans." Journal of Neurophysiology 115, no. 2 (2016): 958–66. http://dx.doi.org/10.1152/jn.00089.2015.

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The objective of this study was to determine if electrocortical activity is different between walking on an incline compared with level surface. Subjects walked on a treadmill at 0% and 15% grades for 30 min while we recorded electroencephalography (EEG). We used independent component (IC) analysis to parse EEG signals into maximally independent sources and then computed dipole estimations for each IC. We clustered cortical source ICs and analyzed event-related spectral perturbations synchronized to gait events. Theta power fluctuated across the gait cycle for both conditions, but was greater during incline walking in the anterior cingulate, sensorimotor and posterior parietal clusters. We found greater gamma power during level walking in the left sensorimotor and anterior cingulate clusters. We also found distinct alpha and beta fluctuations, depending on the phase of the gait cycle for the left and right sensorimotor cortices, indicating cortical lateralization for both walking conditions. We validated the results by isolating movement artifact. We found that the frequency activation patterns of the artifact were different than the actual EEG data, providing evidence that the differences between walking conditions were cortically driven rather than a residual artifact of the experiment. These findings suggest that the locomotor pattern adjustments necessary to walk on an incline compared with level surface may require supraspinal input, especially from the left sensorimotor cortex, anterior cingulate, and posterior parietal areas. These results are a promising step toward the use of EEG as a feed-forward control signal for ambulatory brain-computer interface technologies.

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Baritz, Mihaela, Laura Diana Cotoros, and Daniela Barbu. "Analysis and Simulation of Gait Types with Blocked Joints." Applied Mechanics and Materials 658 (October 2014): 407–12. http://dx.doi.org/10.4028/www.scientific.net/amm.658.407.

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The analysis of gait cycle represents for the professional in biomechanical field a source of information concerning the normality status, comfort degree in carrying out various activities, existence and manifestation of some loco-motor malfunctions, manner and degree of recovery/rehabilitation after surgery and many other applications. From this point of view, computerized simulation with respect to the anthropometric dimensions and the type of action represents an efficient and flexible manner for analysis and evaluation or even for creating a comparative algorithm between different situations or stages of motions performed by the locomotion system. Thus, some general aspects concerning the human locomotion system, the physiological and anatomical limits are presented in the first part of the paper. The analysis and simulation methodology for various gait types, also the experimental system used for recording and then processing the data obtained from these simulations are described in the second part of the paper. In order to complete the developed structure, these options of gait cycle were simulated by the computer, using dedicated software, either by blocking the hip joint or the knee joint, then they were correlated with the normal ones. The results and conclusions of these simulations and recordings on a target group of 10 subjects without locomotion malfunctions but simulating the blocked joints were presented in the final part of the paper.

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Wu, Song, and Quanbin Sun. "Computer Simulation of Leadership, Consensus Decision Making and Collective Behaviour in Humans." PLoS ONE 9, no. 1 (2014): e80680. http://dx.doi.org/10.1371/journal.pone.0080680.

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Yamaguchi, G. T., and F. E. Zajac. "Restoring unassisted natural gait to paraplegics via functional neuromuscular stimulation: a computer simulation study." IEEE Transactions on Biomedical Engineering 37, no. 9 (1990): 886–902. http://dx.doi.org/10.1109/10.58599.

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Soyguder, Servet, and Hasan Alli. "Computer simulation and dynamic modeling of a quadrupedal pronking gait robot with SLIP model." Computers & Electrical Engineering 38, no. 1 (2012): 161–74. http://dx.doi.org/10.1016/j.compeleceng.2011.11.007.

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Schlaepfer, Alain. "The emergence and selection of reputation systems that drive cooperative behaviour." Proceedings of the Royal Society B: Biological Sciences 285, no. 1886 (2018): 20181508. http://dx.doi.org/10.1098/rspb.2018.1508.

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Reputational concerns are believed to play a crucial role in explaining cooperative behaviour among non-kin humans. Individuals cooperate to avoid a negative social image, if being branded as defector reduces pay-offs from future interactions. Similarly, individuals sanction defectors to gain a reputation as punisher, prompting future co-players to cooperate. But reputation can only effectively support cooperation if a sufficient number of individuals condition their strategies on their co-players' reputation, and if a sufficient number of group members are willing to record and transmit the relevant information about past actions. Using computer simulations, this paper argues that starting from a pool of non-cooperative individuals, a reputation system based on punishment is likely to emerge and to be the driver of the initial evolution of cooperative behaviour. However, once cooperation is established in a group, it will be sustained mainly through a reputation mechanism based on cooperative actions.

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Nguyen, Vinh Q., Russell T. Johnson, Frank C. Sup, and Brian R. Umberger. "Bilevel Optimization for Cost Function Determination in Dynamic Simulation of Human Gait." IEEE Transactions on Neural Systems and Rehabilitation Engineering 27, no. 7 (2019): 1426–35. http://dx.doi.org/10.1109/tnsre.2019.2922942.

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He, Dongqing, and Peisun Ma. "Effects of Initial Stance of Quadruped Trotting on Walking Stability." International Journal of Advanced Robotic Systems 2, no. 1 (2005): 1. http://dx.doi.org/10.5772/5807.

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It is very important for quadruped walking machine to keep its stability in high speed walking. It has been indicated that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. In this paper, moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude are analyzed. The degree of influence varies with different initial stances of quadruped and we get the optimal initial stance of quadruped in trotting gait with maximal walking stability. Simulation results are presented.

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YUN, JAESEOK, GREGORY D. ABOWD, JEHA RYU, and WOONTACK WOO. "USER IDENTIFICATION WITH USER'S STEPPING PATTERN OVER THE UBIFLOORII." International Journal of Pattern Recognition and Artificial Intelligence 22, no. 03 (2008): 497–514. http://dx.doi.org/10.1142/s0218001408006338.

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In this paper, we propose the UbiFloorII, a novel floor-based user identification system to recognize humans based on their stepping pattern, the arrays of the transitional footprints from heel-strike to toe-off. To obtain users' stepping pattern from their gait, we deployed photo interrupter sensors instead of switch sensors used in the UbiFloorI. We developed a software module to extract stepping pattern from users' gait. For user identification, we employed neural network trained with users' stepping samples. We achieved about 92% recognition accuracy using this floor-based approach. The UbiFloorII system may be used to automatically and transparently identify users in a home environment.

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Taniai, Yoshiaki, Tomohide Naniwa, Yasutake Takahashi, and Masayuki Kawai. "Evaluation of Power-Assist System by Computer Simulation." Journal of Advanced Computational Intelligence and Intelligent Informatics 20, no. 3 (2016): 477–83. http://dx.doi.org/10.20965/jaciii.2016.p0477.

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Powered exoskeletons have been proposed and developed in various works with the aim of compensating for motor paralysis or reducing weight, workload, or metabolic energy consumption. However, development of the power-assist system depends on the development and evaluation of real powered exoskeletons, and few studies have evaluated the performance of the power-assist system by means of computer simulation. In this paper, we propose an evaluation framework based on computer simulation for the development of an effective power-assist system and demonstrate an analysis of a power-assisted upper-arm reaching movement. We employed the optimality principle to obtain the adapted movements of humans for power-assist systems and compared the performances of power- and non-power-assisted movements in terms of the evaluation index of the power-assist system.

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ASIF, UMAR, and JAVAID IQBAL. "RAPID PROTOTYPING OF A GAIT GENERATION METHOD USING REAL-TIME HARDWARE IN LOOP SIMULATION." International Journal of Modeling, Simulation, and Scientific Computing 02, no. 04 (2011): 393–411. http://dx.doi.org/10.1142/s1793962311000529.

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Formal control design techniques usually rely on the plant model of a desired system. The plant model can be derived from the foundation principles of the system but often includes unidentified parameters. In order to approximate these unknown parameters, experiments are conducted to collect information from the behavior of plant dynamics. Thus, closed-loop feedback control methods can be formulated upon the estimation of an appropriate plant model using simulation techniques. Rapid prototyping techniques support this design paradigm which requires that the rapid prototype operate in real time, interact with real hardware and have supporting control functionality. This paper delivers a study on the modeling and testing of a gait generation method using a rapid prototyping technique. The objective is to develop a method of rapid prototyping to test new walking algorithms on a real-time robotic system. The paper addresses the drawbacks of a non-real-time simulation by evaluating the locomotion of a six-legged robot in terms of tracking errors and signifies the proposed methodology of tuning the gait generation algorithm online through real-time hardware in loop simulation setup. Finally, the paper inspects the improved locomotion of the robot using the proposed methodology and signifies it as a valid prototyping technique for approximating novel gait generation algorithms on real-time robotic systems.

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Huang, Zelin, Zhangguo Yu, Xuechao Chen, et al. "Knee-stretched walking with toe-off and heel-strike for a position-controlled humanoid robot based on model predictive control." International Journal of Advanced Robotic Systems 18, no. 4 (2021): 172988142110362. http://dx.doi.org/10.1177/17298814211036282.

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Knee-stretched walking is considered to be a human-like and energy-efficient gait. The strategy of extending legs to obtain vertical center of mass trajectory is commonly used to avoid the problem of singularities in knee-stretched gait generation. However, knee-stretched gait generation utilizing this strategy with toe-off and heel-strike has kinematics conflicts at transition moments between single support and double support phases. In this article, a knee-stretched walking generation with toe-off and heel-strike for the position-controlled humanoid robot has been proposed. The position constraints of center of mass have been considered in the gait generation to avoid the kinematics conflicts based on model predictive control. The method has been verified in simulation and validated in experiment.

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Jobava, R., D. Pommerenke, D. Karkashadze, et al. "Computer simulation of ESD from voluminous objects compared to transient fields of humans." IEEE Transactions on Electromagnetic Compatibility 42, no. 1 (2000): 54–65. http://dx.doi.org/10.1109/15.831704.

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Tarmizi, Mohd Aizat Ahmad, Rizauddin Ramli, and Sallehuddin Mohamed Haris. "Trajectory planning and simulation of 4-DOF reciprocating gait orthosis." Contemporary Engineering Sciences 9 (2016): 1297–304. http://dx.doi.org/10.12988/ces.2016.67124.

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Koelewijn, Anne D., Eva Dorschky, and Antonie J. van den Bogert. "A metabolic energy expenditure model with a continuous first derivative and its application to predictive simulations of gait." Computer Methods in Biomechanics and Biomedical Engineering 21, no. 8 (2018): 521–31. http://dx.doi.org/10.1080/10255842.2018.1490954.

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Saho, Kenshi, Keitaro Shioiri, Masahiro Fujimoto, and Yoshiyuki Kobayashi. "Micro-Doppler Radar Gait Measurement to Detect Age- and Fall Risk-Related Differences in Gait: A Simulation Study on Comparison of Deep Learning and Gait Parameter-Based Approaches." IEEE Access 9 (2021): 18518–26. http://dx.doi.org/10.1109/access.2021.3053298.

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Wang, Binrui, Ke Zhang, Xuefeng Yang, and Xiaohong Cui. "The gait planning of hexapod robot based on CPG with feedback." International Journal of Advanced Robotic Systems 17, no. 3 (2020): 172988142093050. http://dx.doi.org/10.1177/1729881420930503.

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To realize the omnidirectional motion, the transition motion of hexapod robot from flat to slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point problem of the hexapod robot in the process of transition is studied, the relationship between the introduced angle in ankle of the supporting leg and the body pitch is acquired, and the transition gait based on central pattern generator bottom feedback is planned. Secondly, the slope motion is analyzed, the relationship between the angle variable of the supporting knee joint and the pitch angle of hexapod is obtained, and the slope gait is planned based on central pattern generator middle level feedback. According to vector product, the solution of working out the stability margin of hexapod robot’s motion is designed. Lastly, MATLAB/ADAMAS co-simulation platform and physical hardware are constructed, the simulation and experiment of transition motion of hexapod robot from flat to 12° slope and motion of climbing 16° slope are done. According to the analysis of the results, in the transition motion from flat to 12° slope, based on the transition gait, hexapod robot can keep three foots touch the ground, and the foot force is uniform. According to the means designed to work out a stability margin based on vector product, the stability margin constant is greater than zero. In the motion of climbing 16° slope, based on the slope gait, hexapod robot completes the motion of climbing 16° slope. Based on transition gait, hexapod robot implements the transition movement from flat to slope stably. Based on slope gait, hexapod robot improves the ability of slope motion.

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Higuchi, Ai, Junichiro Shiraishi, Yuichi Kurita, and Tomohiro Shibata. "Effects of Gait Inducing Assist for Patients with Parkinson’s Disease on Double Support Phase During Gait." Journal of Robotics and Mechatronics 32, no. 4 (2020): 798–811. http://dx.doi.org/10.20965/jrm.2020.p0798.

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Parkinson’s disease (PD) is a common progressive neurodegenerative disease that affects a wide range of motor and non-motor symptoms. Freezing of gait (FOG) is such a motor symptom of PD that frequently results in falling, and almost half of PD patients suffer from FOG. In this study, we investigated the effectiveness of a robotic assistance system called UPS-PD, which was developed to suppress FOG. The double limb support phase (DLS) in a 10-m straight-line walking task, the gait time and step counts were measured in five PD subjects. In addition, the safety of the UPS-PD in a healthy person was investigated using OpenSim, and the DLS parameters in four healthy elderly subjects were evaluated. In the experiment with the PD patients, the DLS parameters of two subjects showed an improvement. Furthermore, the step length of one subject and the step length and walking speed of the other subject were improved. Moreover, there were no problems in terms of instability of gait in both the PD patients. The UPS-PD did not adversely affect the gait of healthy elderly subjects and the walking of a healthy subject model in the simulation. Therefore, the UPS-PD is considered to be a useful device for improving walking in PD patients.

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Chang, Qing, and Fanghua Mei. "A Bioinspired Gait Transition Model for a Hexapod Robot." Journal of Robotics 2018 (September 3, 2018): 1–11. http://dx.doi.org/10.1155/2018/2913636.

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Inspired by the analysis of the ant locomotion observed by the high-speed camera, an ant-like gait transition model for the hexapod robot is proposed in this paper. The model which consists of the central neural system (CNS), neural network (NN), and central pattern generators (CPGs) can produce the rhythmic signals for different gaits and can realize the transition of these gait automatically and smoothly according to the change of terrain. The proposed model suggests the neural mechanisms of the ant gait transition and can improve the environmental adaptability of the hexapod robot. The numerical simulation and corresponding physical experiment are implemented in this paper to verify the proposed method.

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