Abstract
The paper presents a comparison between an experimental study of flexion-extension movement in human leg joints and numerical simulations on a virtual mannequin computed in ADAMS virtual environment. Using Biometrics data acquisition system based on electrogoniometers, data were collected for each of three joints of right and left legs during experimental climbing and descending on stairs. The mean flexion-extension cycles for legs joints were obtained. This obtained experimental data series were introduced as input in the joints of the virtual mannequin and a walking simulation was performed in ADAMS environment software. The variation of joints forces and torques during walking obtained by virtual simulation could be used in future work in order to obtain stress and displacements maps in bones and joints by applying the finite element method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Stacoff, A., Diezi, C., Luder, G., Stussi, E., Kramers-de Quervain, I.A.: Ground reaction forces on stairs: effects of stair inclination and age. Gait Posture 21(1), 24–38 (2005)
Riener, R., Rabuffetti, M., Frigo, C.: Stair ascent and descent at different inclinations. Gait Posture 15(1), 32–44 (2002)
Nadeau, S., McFadyen, B.J., Malouin, F.: Frontal and sagittal plane analyses of the stair climbing task in healthy adults aged over 40 years: what are the challenges compared to level walking. Clin. Biomech. 18, 950–959 (2003)
Protopapadaki, A., Drechsler, W.I., Cramp, M.C., Coutts, F.J., Scott, O.M.: Hip, knee, ankle kinematics and kinetics during stair ascent and descent in healthy young individuals. Clin. Biomech. 22, 203–210 (2007)
Costigan, P.A., Deluzio, K.J., Wyss, U.P.: Knee and hip kinetics during normal stair climbing. Gait Posture 16, 31–37 (2002)
Leitner, M., Schmid, S., Hilfiker, R., Radlinger, L.: Test–retest reliability of vertical ground reaction forces during stair climbing in the elderly population. Gait Posture 34, 421–425 (2011)
Luder, G., Baumann, T., Jost, C., Schmid, S., Radlinger, L.: Variability of ground reaction forces in healthy subjects during stair climbing. Physioscience 3, 181–187 (2007)
Suzuki, T., Bean, J.F., Fielding, R.A.: Muscle power of the ankle flexors predicts functional performance in community-dwelling older women. J. Am. Geriatr. Soc. 49(9), 1161–1167 (2001)
Della, C.U., Bonato, P.: A novel design for an instrumented stairway. J. Biomech. 40(3), 702–714 (2007)
Chao, E.Y., Laughman, R.K., Schneider, E., Stauffer, R.N.: Normative data of knee joint motion and ground reaction forces in adult level walking. J. Biomech. 16, 219–233 (1983)
Christina, K.A., Cavanagh, P.R.: Ground reaction forces and frictional demands during stair descent: effects of age and illumination. Gait Posture 15, 153–158 (2002)
Seungsuk, H., Youngjoon, H., Hernsoo, H.: Adaptive gait pattern generation of biped robot based on human’s gait pattern analysis. In: World Academy of Science, Engineering and Technology (2007). Int. J. Electr. Comput. Energ. Electron. Commun. Eng. 1(10)
Katayon, R., Christophe, M., Moritz, M., Dorian, S., Andre, S., Von Oskar, S.: Concept and design of the biobiped1 robot for human-like walking and running. Int. J. Humanoid Rob. 8(3), 439–458 (2011)
Qiang, H., Kazuhito, Y., Shuuji, K., Kenji, K., Hirohiko, A., Noriho, K., Kazuo, T.: Planning walking patterns for a biped robot. IEEE Trans. Robot. Autom. 17(3), 280–289 (2001)
Tlalolini, D., Christine, C., Yannick, A.: Human-like walking: optimal motion of a bipedal robot with toe-rotation motion, transactions on mechatronics. Inst. Electr. Electron. Eng. 16(2), 310–320 (2011)
Muro-de-la-Herran, A., Begonya, G.Z., Amaia, M.Z.: Gait analysis methods: an overview of wearable and non-wearable systems. Highlighting Clin. Appl. Sens. 14, 3362–3394 (2014)
Tao, W., Liu, T., Zheng, R., Feng, H.: Gait analysis using wearable sensors. Sensors 12, 2255–2283 (2012)
Tarnita, D., Marghitu, D.: Analysis of a hand arm system. Robot. Comput. Integr. Manuf. 29(6), 493–501 (2013)
Tarnita, D., Catana, M., Tarnita, D.N.: Experimental measurement of flexion-extension movement in normal and osteoarthric knee. Rom. J. Morphol. Embryol. 54(2), 309–313 (2013)
Patton, J.L.: Forward Dynamic Modeling of Human Locomotion, Ph.D. Thesis, Michigan State University (1993)
Van der Linden, M.L., Rowe, P.J., Nutton, R.W.: Between-day repeatability of knee kinematics during functional tasks recorded using flexible electrogoniometry. Gait Posture 28, 292–296 (2008)
Tarnita, D.: Wearable sensors used for human gait analysis. Rom. J. Morphol. Embryol. 57(2), 373–382 (2016)
Wojtyra, M.: Dynamical analysis of human walking. In: 15th European ADAMS users Conference, Warsaw, Poland (2000)
Chowdhury, S., Kumar, N.: Estimation of forces and moments of lower limb joints from kinematics data and inertial properties of the body by using inverse dynamics technique. J. Rehabil. Robot. 1, 93–98 (2013)
MSC. ADAMS User Manual (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Tarniţă, D., Geonea, I., Petcu, A., Tarniţă, DN. (2017). Experimental Characterization of Human Walking on Stairs Applied to Humanoid Dynamics. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-49058-8_32
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-49057-1
Online ISBN: 978-3-319-49058-8
eBook Packages: EngineeringEngineering (R0)