Normal human walking typically consists of phases during which the body is statically unbalanced while maintaining dynamic stability. Quantifying the dynamic characteristics of human walking can provide better understanding of gait principles. We introduce a novel quantitative index, the dynamic gait measure (DGM), for comprehensive gait cycle. The DGM quantifies the effects of inertia and the static balance instability in terms of zero-moment point and ground projection of center of mass and incorporates the time-varying foot support region (FSR) and the threshold between static and dynamic walking. Also, a framework of determining the DGM from experimental data is introduced, in which the gait cycle segmentation is further refined. A multisegmental foot model is integrated into a biped system to reconstruct the walking motion from experiments, which demonstrates the time-varying FSR for different subphases. The proof-of-concept results of the DGM from a gait experiment are demonstrated. The DGM results are analyzed along with other established features and indices of normal human walking. The DGM provides a measure of static balance instability of biped walking during each (sub)phase as well as the entire gait cycle. The DGM of normal human walking has the potential to provide some scientific insights in understanding biped walking principles, which can also be useful for their engineering and clinical applications.
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Engineering,
Polytechnic Institute of New York University,
Department of Mechanics, Mathematics,
and Management,
Polytechnic of Bari,
Bari 70126, Italy
and Management,
Polytechnic of Bari,
Engineering,
Polytechnic Institute of New York University,
e-mail: jhkim@poly.edu
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September 2013
Research-Article
Quantifying Dynamic Characteristics of Human Walking for Comprehensive Gait Cycle
Carlotta Mummolo,
Engineering,
Polytechnic Institute of New York University,
Department of Mechanics, Mathematics,
and Management,
Polytechnic of Bari,
Bari 70126, Italy
Carlotta Mummolo
Department of Mechanical and Aerospace
Engineering,
Polytechnic Institute of New York University,
Brooklyn, NY 11201
;Department of Mechanics, Mathematics,
and Management,
Polytechnic of Bari,
Bari 70126, Italy
Search for other works by this author on:
Luigi Mangialardi,
and Management,
Polytechnic of Bari,
Luigi Mangialardi
Department of Mechanics, Mathematics
,and Management,
Polytechnic of Bari,
Bari 70126
, Italy
Search for other works by this author on:
Joo H. Kim
Engineering,
Polytechnic Institute of New York University,
e-mail: jhkim@poly.edu
Joo H. Kim
1
Department of Mechanical and Aerospace
Engineering,
Polytechnic Institute of New York University,
Brooklyn, NY 11201
e-mail: jhkim@poly.edu
1Corresponding author.
Search for other works by this author on:
Carlotta Mummolo
Department of Mechanical and Aerospace
Engineering,
Polytechnic Institute of New York University,
Brooklyn, NY 11201
;Department of Mechanics, Mathematics,
and Management,
Polytechnic of Bari,
Bari 70126, Italy
Luigi Mangialardi
Department of Mechanics, Mathematics
,and Management,
Polytechnic of Bari,
Bari 70126
, Italy
Joo H. Kim
Department of Mechanical and Aerospace
Engineering,
Polytechnic Institute of New York University,
Brooklyn, NY 11201
e-mail: jhkim@poly.edu
1Corresponding author.
Contributed by the Bioengineering Division of ASME for publication in the Journal of Biomechanical Engineering. Manuscript received November 19, 2012; final manuscript received May 29, 2013; accepted manuscript posted June 5, 2013; published online July 10, 2013. Assoc. Editor: Richard Neptune.
J Biomech Eng. Sep 2013, 135(9): 091006 (10 pages)
Published Online: July 10, 2013
Article history
Received:
November 19, 2012
Revision Received:
May 29, 2013
Accepted:
June 5, 2013
Citation
Mummolo, C., Mangialardi, L., and Kim, J. H. (July 10, 2013). "Quantifying Dynamic Characteristics of Human Walking for Comprehensive Gait Cycle." ASME. J Biomech Eng. September 2013; 135(9): 091006. https://doi.org/10.1115/1.4024755
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