Simulating Pathological Gait Using the Enhanced Linear Inverted Pendulum Model

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Detail(s)

Original languageEnglish
Pages (from-to)1502-1513
Journal / PublicationIEEE Transactions on Biomedical Engineering
Volume52
Issue number9
Online published15 Aug 2005
Publication statusPublished - Sep 2005

Abstract

In this paper, we propose a new method to simulate human gait motion when muscles are weakened. The method is based on the enhanced version of three-dimensional linear inverted pendulum model that is used for generation of gait in robotics. After the normal gait motion is generated by setting the initial posture and the parameters that decide the trajectories of the center of mass and angular momentum, the muscle to be weakened is specified. By minimizing an objective function based on the force exerted by the specified muscle during the motion, the set of parameters that represent the pathological gait was calculated. Since the number of parameters to describe the motion is small in our method, the optimization process converges much more quickly than in previous methods. The effects of weakening the gluteus medialis, the gluteus maximus, and vastus were analyzed. Important similarities were noted when comparing the predicted pendulum motion with data obtained from an actual patient. © 2005 IEEE.

Research Area(s)

  • Bipedal gait, Inverse dynamics, Musculoskeletal model, Static optimization

Bibliographic Note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

Citation Format(s)

Simulating Pathological Gait Using the Enhanced Linear Inverted Pendulum Model. / Komura, Taku; Nagano, Akinori; Leung, Howard; Shinagawa, Yoshihisa.

In: IEEE Transactions on Biomedical Engineering, Vol. 52, No. 9, 09.2005, p. 1502-1513.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review