Covariate Analysis for Footstep Recognition Using Unsupervised Hierarchical Clustering.

The purpose of this study was to investigate the biomechanical effects of wearing different type of insole shoes on gait characteristics in patients with knee osteoarthritis. Seven patients with knee osteoarthritis (Grade 3 & 4 by Kellgren & Lawrence) were participated in the study. They wore two different type of shoes (with Gel-type Insole: GIS, with Normal insole: NIS) during gait. Three dimensional cinematography and Ground Reaction Force(GRF) data were used to get the maximal value of horizontal distance between the center of pressure in GRF and knee joint center, GRF in mediolateral direction, peak value of GRF in frontal plane, vertical compressive force and adduction moment in knee joint. The results were as follows: The maximal value of horizontal distance between the center of pressure in GRF and knee joint center was smaller in GIS than NIS. The peak value of GRF in mediolateral direction was found in 30% of gait cycle, five subjects wearing GIS showed lower value of peak GRF in mediolateral direction than wearing NIS. The peak value of GRF in frontal plane and vertical compressive force in knee joint did not show any difference between GIS and NIS. The adduction moment in GIS decreased in the late stance of gait and the mean value of the adduction moment in GIS smaller than that in NIS. GIS may help to move quickly knee joint center to the center of pressure in GRF, therefore it may prevent increasing the adduction moment in knee joint.

Ambulatory monitoring of ground reaction force (GRF) and center of pressure (CoP) could improve management of health conditions that impair mobility. Insoles instrumented with force-sensitive resistors (FSRs) are an unobtrusive, low-cost, and low-power technology for sampling GRF and CoP in real-world environments. However, FSRs have variable response characteristics that complicate estimation of GRF and CoP. This study introduces a unique data analytic pipeline that enables accurate estimation of GRF and CoP despite relatively inaccurate FSR responses. This paper also investigates whether inclusion of a complementary knee angle sensor improves estimation accuracy. Seventeen healthy subjects were equipped with an insole instrumented with six FSRs and a string-based knee angle sensor. Subjects walked in a straight line at self-selected slow, preferred, and fast speeds over an in-ground force platform. Twenty repetitions were performed for each speed. Supervised machine learning models estimated weight-normalized GRF and shoe size-normalized CoP, which were re-scaled to obtain GRF and CoP. Anteroposterior GRF, Vertical GRF, and Anteroposterior CoP were estimated with a normalized root mean square error (NRMSE) of less than 5%. Mediolateral GRF and CoP were estimated with an NRMSE of 8.1% and 6.4%, respectively. Knee angle-related features slightly improved GRF estimates. Normalized models accurately estimated GRF and CoP despite deficiencies in FSR data. Ambulatory use of the proposed system could enable objective, longitudinal monitoring of severity and progression for a variety of health conditions.

The purpose of this study was to investigate the effects of different vertical positions of an asymmetrical load on the anticipatory postural adjustments phase of gait initiation. Sixty-eight college students (32 males, 36 females; age: 23.65 ± 3.21 years old; weight: 69.98 ± 8.15 kg; height: 1.74 ± 0.08 m) were enrolled in the study. Ground reaction forces and moments were collected using two force platforms. The participants completed three trials under each of the following random conditions: no-load (NL), waist uniformly distributed load (WUD), shoulder uniformly distributed load (SUD), waist stance foot load (WST), shoulder stance foot load (SST), waist swing foot load (WSW), and shoulder swing foot load (SSW). The paired Hotelling's T-square test was used to compare the experimental conditions. The center of pressure (COP) time series were significantly different for the SUD vs. NL, SST vs. NL, WST vs. NL, and WSW vs. NL comparisons. Significant differences in COP time series were observed for all comparisons between waist vs. shoulder conditions. Overall, these differences were greater when the load was positioned at the shoulders. For the center of mass (COM) time series, significant differences were found for the WUD vs. NL and WSW vs. NL conditions. However, no differences were observed with the load positioned at the shoulders. In conclusion, only asymmetrical loading at the waist produced significant differences, and the higher the extra load, the greater the effects on COP behavior. By contrast, only minor changes were observed in COM behavior, suggesting that the changes in COP (the controller) behavior are adjustments to maintain the COM (controlled object) unaltered.

Biomechanical data for gait in unstable rocker bottom shoes reported in the literature is not comprehensive across available shoe types. Purpose: The objective of this study was to comprehensively evaluate centre of pressure (COP), ground reaction force (GRF), joint kinematics and kinetics, and electromyography (EMG) of selected muscles while walking in an unstable shoe compared to a control shoe. Methods: Fifteen subjects performed five walking trials at 1.3 m/s and 1.8 m/s in control and unstable shoes. Kinematic, GRF and EMG data were simultaneously collected. Results: The unstable shoe caused an increased mediolateral COP displacement. Greater loading rate of initial peak vertical GRF, reduced ankle plantarflexion range of motion (ROM) and greater total sagittal-plane ankle ROM were also observed for the unstable shoe compared to the control shoe. Peak dorsiflexion and plantarflexion moments, peak knee flexion moment as well as EMG activation of tibialis anterior and rectus femoris were reduced in the unstable shoe. Finally, the peak inversion moment and hip abduction moment were increased in the unstable shoe. Conclusion: These results suggest that the unstable shoe presents challenges to the body to maintain mediolateral stability and therefore helps improve involved ankle and hip muscles. Furthermore the demands for the lower extremity muscles related to the sagittal-plane motions were reduced in the unstable shoe.

The purpose of this study was to investigate the effects of different vertical positions of an asymmetrical load on the anticipatory postural adjustments phase of gait initiation. Sixty-eight college students (32 males, 36 females; age: 23.65 ± 3.21 years old; weight: 69.98 ± 8.15 kg; height: 1.74 ± 0.08 m) were enrolled in the study. Ground reaction forces and moments were collected using two force platforms. The participants completed three trials under each of the following random conditions: no-load (NL), waist uniformly distributed load (WUD), shoulder uniformly distributed load (SUD), waist stance foot load (WST), shoulder stance foot load (SST), waist swing foot load (WSW), and shoulder swing foot load (SSW). The paired Hotelling’s T-square test was used to compare the experimental conditions. The center of pressure (COP) time series were significantly different for the SUD vs. NL, SST vs. NL, WST vs. NL, and WSW vs. NL comparisons. Significant differences in COP time series were observed for all comparisons between waist vs. shoulder conditions. Overall, these differences were greater when the load was positioned at the shoulders. For the center of mass (COM) time series, significant differences were found for the WUD vs. NL and WSW vs. NL conditions. However, no differences were observed with the load positioned at the shoulders. In conclusion, only asymmetrical loading at the waist produced significant differences, and the higher the extra load, the greater the effects on COP behavior. By contrast, only minor changes were observed in COM behavior, suggesting that the changes in COP (the controller) behavior are adjustments to maintain the COM (controlled object) unaltered.

A stationary force plate can only accurately measure complete ground reaction force (GRF) during no more than one stride, but the data of a successively measured multi-axial GRF in different environments is desired not only for researchers on gait analysis but also for clinical doctors. A wearable force plate system was developed by integrating small triaxial force sensors and 3D inertial sensors for estimating multi-axial GRF under free-living environments. In order to verify measures of the developed system, we adopted a combination system including a stationary force plate and an optical motion analysis system as a reference system that simultaneously measured triaxial GRF and the center of pressure (CoP) when a subject was required to wear the wearable system. The RMS difference and standard deviation of the two transverse components (x-axis and y-axis) and the vertical component (z-axis) of the GRF was 4.3±0.9N, 6.0±1.3N, and 12.1±1.1N respectively, corresponding to 5.1±1.1% and 6.5±1% of the maximum of each transverse component, and to 1.3±0.2% of the maximum vertical component of GRF. The RMS distance between the two systems' CoP traces was 3.2±0.8mm, corresponding to 1.2±0.3% of the length of the shoe. Based on the experimental results, we can conclude that the wearable system as an alternative device can be used to measure CoP and triaxial GRF with an acceptable accuracy in non-laboratory environments.

CoP(Center of pressure) and GRF(ground reaction force) of insole are very important values in biomechanics area. They are using for calculating kinematics, dynamics of human or controlling of robot like exoskeletons. As an alternative to high-cost insole pressure sensors that can measure the insole pressure distribution and calculate the center of pressure, a FSR (Force Sensing Resistor) foot sensor with FSR sensors on the bottom of the insole was developed. However, the value of the CoP calculated using fixed coordinates and the values of FSR sensors were not sufficiently accurate and FSR sensors cannot cover the whole area of the insole so it can not calculate the magnitude of GRF. Hence, in this paper, a model capable of estimating of GRF and calibrating CoP measured by FSR foot sensors using neural network fitting is introduced. These processes rely on the fact that foot has protruding areas that are initially in contact with the ground while walking, with the size and magnitude of the pressure exerted by other non-protruding areas estimated using the the constant patterns of the pressure values of the protruding areas. This paper presents the division of the insole based on anatomical shape of foot, estimations of appropriate numvers and locations of the FSR sensors, creation of virtual forces and their floating coordinates, development of algorithms with neural network fitting for estimating the values, and calculation of the estimated GRF and calibrated CoP. Validation is conducted by comparing the Values with those of F-Scan System(Tekscan, Inc.)

Temporal and spatial representations are not independent of each other. Two conflicting theories provide alternative hypotheses concerning the specific interrelations between temporal and spatial representations. The asymmetry hypothesis (based on the conceptual metaphor theory, Lakoff and Johnson, 1980) predicts that temporal and spatial representations are asymmetrically interrelated such that spatial representations have a stronger impact on temporal representations than vice versa. In contrast, the symmetry hypothesis (based on a theory of magnitude, Walsh, 2003) predicts that temporal and spatial representations are symmetrically interrelated. Both theoretical approaches have received empirical support. From an embodied cognition perspective, we argue that taking sensorimotor processes into account may be a promising steppingstone to explain the contradictory findings. Notably, different modalities are differently sensitive to the processing of time and space. For instance, auditory information processing is more sensitive to temporal than spatial information, whereas visual information processing is more sensitive to spatial than temporal information. Consequently, we hypothesized that different sensorimotor tasks addressing different modalities may account for the contradictory findings. To test this, we critically reviewed relevant literature to examine which modalities were addressed in time-space mapping studies. Results indicate that the majority of the studies supporting the asymmetry hypothesis applied visual tasks for both temporal and spatial representations. Studies supporting the symmetry hypothesis applied mainly auditory tasks for the temporal domain, but visual tasks for the spatial domain. We conclude that the use of different tasks addressing different modalities may be the primary reason for (a)symmetric effects of space on time, instead of a genuine (a)symmetric mapping.

A novel rigid Foot-Ground contact model for Predicting ground reaction forces and center of pressure during normal gait

The center of pressure (COP), which is defined as the point at which the resultant ground reaction force (GRF) is applied on a body, provides valuable information for postural stability assessment. This is because the fundamental goal of balance control is to regulate the center of mass (COM) of the human body by adaptively changing the position of the COP. By using Newtonian mechanics to develop two equations that relate the two-dimensional COP coordinates to the GRF components, one can easily determine the location of the COP using a force plate. An important property of these two equations is that for a given COP position, there exists an infinite number of GRF component combinations that can satisfy these two equations. However, the manner in which a postural control system deals with such redundancy is still unclear. To address this redundancy problem, we introduce four postural stability features by quantifying the coupling strengths between the COP coordinates and their GRF components. Experiments involving younger (18–24 years old) and older (65–73 years) participants were conducted. The efficacy of the proposed features was demonstrated by comparing the differences between variants of each feature for each age group (18–24 and 65–73 years). The results demonstrated that the coupling strengths between the anterior–posterior (AP) direction coordinate of the COP and its GRF components for the older group were significantly higher than those of the younger group. These experimental results suggest that (1) the balance control system of the older group is more constrained than that of the younger group in coordinating the GRF components and (2) the proposed features are more sensitive to age variations than one of the most reliable and accurate conventional COP features. The best testing classification accuracy achieved by the proposed features was 0.883, whereas the testing classification accuracy achieved by the most accurate conventional COP feature was 0.777. Finally, by investigating the interactions between the COP and its GRF components using the proposed features, we found that that the AP component of the GRF of younger people plays a more active role in balance control than that of the GRF of older people. Based on these findings, it is believed that the proposed features can be used as a set of stability measures to assess the effects on posture stability from various health-related conditions such as aging and fall risk.

Force application locations [i.e., center of pressure (COP)] on the block surface are not necessarily the same for individuals even if the same block locations and angles are used. The purpose of this study was to examine the association of block clearance performance with COP location on the starting block surface. Twenty-one male sprinters performed 60 m sprints from the starting blocks, during which the ground reaction forces (GRFs) on the starting blocks were recorded using two force platforms. Using a previously validated method, changes in COP location on the block surface during the block clearance for each block was calculated from the marker coordinates on the block surface, GRF signals, and moment data around the center of the force platform at the ground level. Moreover, average horizontal external power (AHEP), which was considered the key performance criterion, was computed. Statistical parametric mapping (SPM) 1D linear regressions were used to test relationships between AHEP and COP location curves in the anteroposterior and vertical directions. The COP for both legs moved backward and upward (0.042 and 0.042 m for the front block and 0.030 and 0.034 m for the rear block) at first and then forward and downward (0.113 and 0.094 m for the front block and 0.095 and 0.087 m for the rear block) toward the toe-off. Based on SPM results, AHEP was correlated with front block anteroposterior and vertical COP locations from 12.9 to 20.8% and from 10.4 to 22.2% of the force production phase, respectively, while it was correlated with rear block vertical COP location from 31.9 to 37.4% of the force production phase. In conclusion, the current results demonstrate that, regardless of the starting block location and angle, better sprint start performance is accomplished with a higher and more to the rear COP on the starting block surface, when COP is located close to heel during the middle phase of the block clearance. The fact that the COP location is related to sprint start performance will be useful for sprinters and coaches who intend to improve sprint start performance.

Background and Aims Several treatments have been recommended to enhance the running mechanics of individuals with flat feet. Less emphasis has been paid to the impact of these treatments on the ground reaction forces (GRF) and the center of pressure (COP), while these kinetic effects are essential in identifying possible injuries and the body’s compensatory mechanisms in response to any therapeutic approach. The present study aimed to compare the effects of foot orthoses and antipronation taping on COP and GRF on the running of people with flat feet. Methods The present study was quasi-experimental with a randomized cross-over design. The kinematic and kinetic data of 20 young people with flexible flat feet were measured while running under three conditions: athletic shoes, athletic shoes with foot orthoses (FO), and athletic shoes with low-Dye (LD) tape. A one-way repeated measure analysis of variance from the SPM1d package was used to compare differences in GRF and COP time series under different conditions. Results The results showed that foot orthoses reduced the anteroposterior GRF compared to low-Dye tape and increased the lateral GRF compared to athletic shoes alone. However, the conditions did not significantly affect the vertical GRF (P<0.05). Moreover, FO-shoes and LD-shoes caused medial and lateral shifts in COP, respectively (P<0.05). Conclusion This research showed that foot orthoses cause inefficient force transmission in the anterior direction. Furthermore, running with FO-shoes and LD-shoes substantially influences COP displacements towards the end of the stance phase; however, it does not appear to increase running-related injuries since minimal load and forces are applied to the joint at that time.

The effect of center of pressure alteration on the ground reaction force during gait: A statistical model

Recognition of walking directional intention employed ground reaction forces and center of pressure during gait initiation

A physics-informed deep learning approach to predicting bilateral ground reaction forces and centre of pressure from a single forceplate during gait.