Human locomotion analysis: Identifying a dynamic mapping between upper and lower limb joints using the Koopman...

Area of Science:

• Biomechanics
• Dynamical Systems Theory
• Robotics

Background:

• Human locomotion involves complex inter-joint coordination between upper and lower limbs.
• Understanding these synergies is crucial for modeling human movement and developing advanced prosthetics or exoskeletons.
• Previous models often simplify limb dynamics, potentially missing key coordination patterns.

Purpose of the Study:

• To identify a dynamic mapping between the upper and contralateral lower limb during human locomotion using the Koopman operator.
• To develop a data-driven model of human walking dynamics.
• To investigate the role of walking aids (canes) in modulating inter-limb coordination.

Main Methods:

• Analysis of human locomotion in the sagittal plane during a straight walking task at constant speed.
• Application of the Koopman operator to identify a dynamic system mapping.
• Utilizing data from walking with canes to provide terrain information and enforce frequency locking.

Main Results:

• The Koopman operator successfully identified a dynamic mapping between upper and lower limb movements.
• The study demonstrated frequency locking between upper and lower body segments when using canes.
• The developed mapping provides a novel model for human locomotion dynamics.

Conclusions:

• The Koopman operator is a powerful tool for modeling complex biological systems like human locomotion.
• Inter-limb coordination during walking can be effectively modeled as a dynamic mapping.
• The use of canes influences and can synchronize upper and lower body dynamics, offering insights into gait control.