Abstract
The parameters of walking have been studied from the viewpoints of joint rotation and translation of body. The balance and symmetry of walking are indispensable features to understand for healthy walking, while also being a personal characteristic. However, quantification has not been easy to carry out in the case of the conventional gait parameters COG (center of gravity) and ZMP (zero moment point). In this approach, the CP (crossing point) is proposed to quantify the concept of symmetry and balance by comparing it to the COG and ZMP. The CP is estimated based on the intersection between the hip line and the ankle line. While the hip line is fixed on the upper body where the COG is, the ankle line is altered depending on the each footfall, where the ZMP is. Therefore, the values of COG, ZMP, and CP have similar or different tendencies in terms of whether balanced walking results in symmetry or not. The validity of this is verified by carrying out a simulation with robot walking, and an experiment using human walking. Through additional experiments, it was noticed that the CP was able to improve the role of COG and ZMP in terms of not only stability, but also its relationship with the movement range of the lower limbs.
Highlights
Researchers who study human walking have attempted the quantitative evaluation of various factors, including stride velocity, stride length, step information, joint angles, muscle force, and so on
Muro-de-la-Herran et al [1] described the categorization of gait parameters based on clinical application, sport, and recognition
This paper focuses on the detection of stability, symmetry, and balance using the COG, ZMP, and CP during natural human walking
Summary
Researchers who study human walking have attempted the quantitative evaluation of various factors, including stride velocity, stride length, step information (length, width, angle, and time), joint angles, muscle force, and so on. Clinical application or rehabilitation has been focused on walking parameters related to balance, stability, symmetry, etc., for the purpose of recovering healthy gait. These factors include the trajectory of joints, the symmetry of left and right, COG (center of gravity), COP (centre of pressure), ZMP, and so on. Many researchers have studied the use of one or more indices for the analysis of human walking [2,3,4,5,6,7,8,9,10,11,12,13,14]
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