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Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

ABSTRACT: Bipedal walking while keeping the upper body upright is a complex task. One strategy to cope with this task is to direct the ground reaction forces toward a point above the centre of mass of the whole body, called virtual pivot point (VPP). This behaviour could be observed in various experimental studies for human and animal walking, but not for the humanoid robot LOLA. The question arose whether humans still show a VPP when walking like LOLA. For this purpose, ten participants imitated LOLA in speed, posture, and mass distribution (LOLA-like walking). It could be found that humans do not differ from LOLA in spatio-temporal parameters for the LOLA-like walking, in contrast to upright walking with preferred speed. Eight of the participants show a VPP in all conditions (R² > 0.90 ± 0.09), while two participants had no VPP for LOLA-like walking (R² < 0.52). In the latter case, the horizontal ground reaction forces are not balanced around zero in the single support phase, which is presumably the key variable for the absence of the VPP.

SUBMITTER: Vielemeyer J

PROVIDER: S-EPMC10230186 | biostudies-literature | 2023 May

REPOSITORIES: biostudies-literature

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Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

Vielemeyer Johanna J Staufenberg Nora-Sophie NS Schreff Lucas L Rixen Daniel D Müller Roy R

Royal Society open science 20230531 5

Bipedal walking while keeping the upper body upright is a complex task. One strategy to cope with this task is to direct the ground reaction forces toward a point above the centre of mass of the whole body, called virtual pivot point (VPP). This behaviour could be observed in various experimental studies for human and animal walking, but not for the humanoid robot LOLA. The question arose whether humans still show a VPP when walking like LOLA. For this purpose, ten participants imitated LOLA in ...[more]

PMID: 37266041

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Project description:IntroductionGait analysis is increasingly used to support clinical decision-making regarding diagnosis and treatment planning for movement disorders. As a key part of gait analysis, inverse dynamics can be applied to estimate internal loading conditions during movement, which is essential for understanding pathological gait patterns. The inverse dynamics calculation uses external kinetic information, normally collected using force plates. However, collection of external ground reaction forces (GRFs) and moments (GRMs) can be challenging, especially in subjects with movement disorders. In recent years, a musculoskeletal modeling-based approach has been developed to predict external kinetics from kinematic data, but its performance has not yet been evaluated for altered locomotor patterns such as toe-walking. Therefore, the goal of this study was to investigate how well this prediction method performs for gait in children with cerebral palsy.MethodsThe method was applied to 25 subjects with various forms of hemiplegic spastic locomotor patterns. Predicted GRFs and GRMs, in addition to associated joint kinetics derived using inverse dynamics, were statistically compared against those based on force plate measurements.ResultsThe results showed that the performance of the predictive method was similar for the affected and unaffected limbs, with Pearson correlation coefficients between predicted and measured GRFs of 0.71-0.96, similar to those previously reported for healthy adults, despite the motor pathology and the inclusion of toes-walkers within our cohort. However, errors were amplified when calculating the resulting joint moments to an extent that could influence clinical interpretation.ConclusionTo conclude, the musculoskeletal modeling-based approach for estimating external kinetics is promising for pathological gait, offering the possibility of estimating GRFs and GRMs without the need for force plate data. However, further development is needed before implementation within clinical settings becomes possible.

Project description:BACKGROUND:Sand is an easy-to-access, cost-free resource that can be used to treat pronated feet (PF). Therefore, the aims of this study were to contrast the effects of walking on stable ground versus walking on sand on ground reaction forces (GRFs) and electromyographic (EMG) activity of selected lower limb muscles in PF individuals compared with healthy controls. METHODS:Twenty-nine controls aged 22.2±2.5 years and 30 PF individuals aged 22.2±1.9 years were enrolled in this study. Participants walked at preferred speed and in randomized order over level ground and sand. A force plate was included in the walkway to collect GRFs. Muscle activities were recorded using EMG system. RESULTS:No statistically significant between-group differences were found in preferred walking speed when walking on stable ground (PF: 1.33±0.12 m/s; controls: 1.35±0.14 m/s; p = 0.575; d = 0.15) and sand (PF: 1.19±0.11 m/s; controls: 1.23±0.18 m/s; p = 0.416; d = 0.27). Irrespective of the group, walking on sand (1.21±0.15 m/s) resulted in significantly lower gait speed compared with stable ground walking (1.34±0.13 m/s) (p<0.001; d = 0.93). Significant main effects of "surface" were found for peak posterior GRFs at heel contact, time to peak for peak lateral GRFs at heel contact, and peak anterior GRFs during push-off (p<0.044; d = 0.27-0.94). Pair-wise comparisons revealed significantly smaller peak posterior GRFs at heel contact (p = 0.005; d = 1.17), smaller peak anterior GRFs during push-off (p = 0.001; d = 1.14), and time to peak for peak lateral GRFs (p = 0.044; d = 0.28) when walking on sand. No significant main effects of "group" were observed for peak GRFs and their time to peak (p>0.05; d = 0.06-1.60). We could not find any significant group by surface interactions for peak GRFs and their time to peak. Significant main effects of "surface" were detected for anterior-posterior impulse and peak positive free moment amplitude (p<0.048; d = 0.54-0.71). Pair-wise comparisons revealed a significantly larger peak positive free moment amplitude (p = 0.010; d = 0.71) and a lower anterior-posterior impulse (p = 0.048; d = 0.38) when walking on sand. We observed significant main effects of "group" for the variable loading rate (p<0.030; d = 0.59). Pair-wise comparisons revealed significantly lower loading rates in PF compared with controls (p = 0.030; d = 0.61). Significant group by surface interactions were observed for the parameter peak positive free moment amplitude (p<0.030; d = 0.59). PF individuals exhibited a significantly lower peak positive free moment amplitude (p = 0.030, d = 0.41) when walking on sand. With regards to EMG, no significant main effects of "surface", main effects of "group", and group by surface interactions were observed for the recorded muscles during the loading and push-off phases (p>0.05; d = 0.00-0.53). CONCLUSIONS:The observed lower velocities during walking on sand compared with stable ground were accompanied by lower peak positive free moments during the push-off phase and loading rates during the loading phase. Our findings of similar lower limb muscle activities during walking on sand compared with stable ground in PF together with lower free moment amplitudes, vertical loading rates, and lower walking velocities on sand may indicate more relative muscle activity on sand compared with stable ground. This needs to be verified in future studies.

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Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

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Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?

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