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A Unified Parameterization of Human Gait Across Ambulation Modes
Kyle R Embry1, Dario J Villarreal2, Robert D Gregg3
1Department of Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.
Summary
This study presents a new method to model human walking, enabling smoother prosthetic leg control. This approach avoids complex switching systems, improving prosthetic functionality across various walking conditions.
Area of Science:
- Biomechanics and Robotics
- Human Motion Analysis
- Prosthetics and Orthotics
Background:
- Current prosthetic leg controllers often rely on finite state machines, leading to abrupt transitions and suboptimal performance.
- Controlling prosthetic limbs across diverse ambulation modes (e.g., varying speeds and slopes) remains a significant challenge.
- A need exists for more adaptable and continuous control strategies in lower-limb prosthetics.
Purpose of the Study:
- To introduce a novel gait parameterization method for continuous modeling of human walking.
- To develop a unified control approach for prosthetic legs that adapts to different walking speeds and ground slopes.
- To enable a single, non-switching controller for prosthetic limbs, overcoming limitations of current finite state machine systems.
Main Methods:
- Collected kinematic data from seven able-bodied subjects under 27 different walking speed and ground slope combinations on a treadmill.
- Employed convex optimization techniques to fit a continuous, three-variable function to the experimental gait data.
- The function models gait kinematics as a continuous function of gait cycle phase, walking speed, and ground slope.
Main Results:
- Successfully developed a continuous function that accurately parameterizes gait kinematics across varying speeds and slopes.
- The proposed function can generate desired trajectories for a virtual constraint controller.
- Demonstrated the potential for a single controller to manage prosthetic leg movement across a continuum of gait phases and ambulation modes.
Conclusions:
- The novel gait parameterization method offers a promising alternative to finite state machines for prosthetic control.
- This continuous modeling approach can lead to more natural and adaptive prosthetic leg function.
- The developed method facilitates the creation of advanced, single-controller systems for prosthetic legs, enhancing user mobility and experience.
