Modeling the Kinematics of Human Locomotion Over Continuously Varying Speeds and Inclines.

ABSTRACT: Powered knee and ankle prostheses can perform a limited number of discrete ambulation tasks. This is largely due to their control architecture, which uses a finite-state machine to select among a set of task-specific controllers. A non-switching controller that supports a continuum of tasks is expected to better facilitate normative biomechanics. This paper introduces a predictive model that represents gait kinematics as a continuous function of gait cycle percentage, speed, and incline. The basis model consists of two parts: basis functions that produce kinematic trajectories over the gait cycle and task functions that smoothly alter the weight of basis functions in response to task. Kinematic data from 10 able-bodied subjects walking at 27 combinations of speed and incline generate train

SUBMITTER: Embry KR 

PROVIDER: S-EPMC6358210 | biostudies-literature | 2018 Dec

REPOSITORIES: biostudies-literature