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Paper Abstract and Keywords
Presentation 2017-03-13 13:35
Analysis of balance of walking based on simple and inverted pendulum models
Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2016-86
Abstract (in Japanese) (See Japanese page) 
(in English) Analysis of gait stability is important to assess the risk of a fall in elderly people and people with gait disorders. In this study, we define desirable postures at heel strike, assuming that a ballistic walking is a good approximation of leg movements in human gait. Linear simple and inverted pendulums are applied to represent movements of the swing and stance legs during a swing phase. Introducing nondimensionalization of the position and time, we characterize the trajectories of swing and stance legs with two parameters: energy ratio and phase difference. Determining feasible ranges of the parameters, we illustrated the regions of backward and forward balance losses in the space of a nondimensinalized initial state of the inverted pendulum. Through gait measurement experiments, we examined how much margin the gait of normal subjects had for the forward and backward balance losses. In addition, we evaluated the energy ratio and phase difference in relation to the walking velocity. We measured gait patterns of normal subjects with three types of walking speed: slow, intermediate, and fast speed. All of the measured walking data showed sufficient margin from the forward and backward balance losses. We found that the average phase difference was slightly delayed which may improve the stability for a forward fall. On the other hand, the energy ratio increased with the walking velocity, and the margin became narrower.
Keyword (in Japanese) (See Japanese page) 
(in English) Ballistic walking model / Gait analysis / fall / / / / /  
Reference Info. IEICE Tech. Rep., vol. 116, no. 520, MBE2016-86, pp. 21-26, March 2017.
Paper # MBE2016-86 
Date of Issue 2017-03-06 (MBE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee MBE NC  
Conference Date 2017-03-13 - 2017-03-14 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2017-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Analysis of balance of walking based on simple and inverted pendulum models 
Sub Title (in English)  
Keyword(1) Ballistic walking model  
Keyword(2) Gait analysis  
Keyword(3) fall  
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1st Author's Name Takahiro Kagawa  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Yoji Uno  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2017-03-13 13:35:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2016-86 
Volume (vol) vol.116 
Number (no) no.520 
Page pp.21-26 
#Pages 6 
Date of Issue 2017-03-06 (MBE) 

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