Pub Date : 2013-12-31DOI: 10.1504/IJBBR.2013.058724
Z. Kausar, K. Stol, N. Patel
This article presents a non-linear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalisation and partial feedback linearisation. The latter allows linearisation of only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilisation and velocity tracking for a statically unstable two wheeled mobile robot.
{"title":"Lyapunov function-based non-linear control for two-wheeled mobile robots","authors":"Z. Kausar, K. Stol, N. Patel","doi":"10.1504/IJBBR.2013.058724","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058724","url":null,"abstract":"This article presents a non-linear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalisation and partial feedback linearisation. The latter allows linearisation of only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilisation and velocity tracking for a statically unstable two wheeled mobile robot.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"13 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121183209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049589
S. Kosta, Mukta Bhatele, S. Nema, Y. Kosta, Kalpesh N. Patel, Jaimin R. Patel, Harsh Mehta, R. Patel, Bhavin S. Patel, S. Kosta, Archna Dubey, Prateek Gupta, Preeti Nair
For the first time exploratory feasibility study on the ‘physical model of human tissue skin-based electronic transistor’ (HTSBET) is presented. Effects of variables like 1 distance (d) between device forming probes 2 applied voltages 3 probes pressure (p) 4 probes polarisation and shape, on the input/output characteristics as well as current gain factor β of the transistor are studied. Emerging applications of bio-material human tissue blood/skin-based electronic circuits towards cyborg implants, human-machine interface, human disease detection/healing, human health sensors and digital signal processing is visualised.
{"title":"Physical model of human tissue skin-based electronic transistor","authors":"S. Kosta, Mukta Bhatele, S. Nema, Y. Kosta, Kalpesh N. Patel, Jaimin R. Patel, Harsh Mehta, R. Patel, Bhavin S. Patel, S. Kosta, Archna Dubey, Prateek Gupta, Preeti Nair","doi":"10.1504/IJBBR.2012.049589","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049589","url":null,"abstract":"For the first time exploratory feasibility study on the ‘physical model of human tissue skin-based electronic transistor’ (HTSBET) is presented. Effects of variables like 1 \u0000distance (d) between device forming probes \u0000 \u00002 \u0000applied voltages \u0000 \u00003 \u0000probes pressure (p) \u0000 \u00004 \u0000probes polarisation and shape, on the input/output characteristics as well as current gain factor β of the transistor are studied. \u0000 \u0000 \u0000 \u0000Emerging applications of bio-material human tissue blood/skin-based electronic circuits towards cyborg implants, human-machine interface, human disease detection/healing, human health sensors and digital signal processing is visualised.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114985666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049591
Richa Sharma, D. Bhatia, S. Dahiya, Deepak A. Joshi
This paper presents a novel technique for feature evaluation of some common vocabulary terms employed during the process of speech without producing audio signals using facial EMG. This paper aims to present an effective mechanism to measure the relative activity of the facial muscles related to speech production for person’s suffering from speech-related disabilities. The features were extracted from raw EMG signals of four important facial muscles (zygomaticus major, orbicularis oris inferior, levator labii superioris, anterior belly of diagastric) using root mean square (RMS) values for both genders. These values presented the relative activity of the four chosen muscles showing significant changes only in orbicularis oris inferior (OOI) muscle both in males and females during the process of speech production. Further, the fast Fourier transform (FFT) was used to validate this hypothesis and verify the results obtained. From these results, it may concluded that this muscle is the most active and useful in the speech production. This evaluation will be very helpful in designing speech prosthesis for the people with speech disabilities in near future.
{"title":"Feature evaluation for recognition of unspoken small vocabulary using facial EMG","authors":"Richa Sharma, D. Bhatia, S. Dahiya, Deepak A. Joshi","doi":"10.1504/IJBBR.2012.049591","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049591","url":null,"abstract":"This paper presents a novel technique for feature evaluation of some common vocabulary terms employed during the process of speech without producing audio signals using facial EMG. This paper aims to present an effective mechanism to measure the relative activity of the facial muscles related to speech production for person’s suffering from speech-related disabilities. The features were extracted from raw EMG signals of four important facial muscles (zygomaticus major, orbicularis oris inferior, levator labii superioris, anterior belly of diagastric) using root mean square (RMS) values for both genders. These values presented the relative activity of the four chosen muscles showing significant changes only in orbicularis oris inferior (OOI) muscle both in males and females during the process of speech production. Further, the fast Fourier transform (FFT) was used to validate this hypothesis and verify the results obtained. From these results, it may concluded that this muscle is the most active and useful in the speech production. This evaluation will be very helpful in designing speech prosthesis for the people with speech disabilities in near future.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127651444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049587
Musaab Hassan, S. Khider, S. Mahjob, Ibrahim Ahmed
The quality of the MRI produced image is very sensitive to motion effects due to movement of the patient inside the device. In this project, motion detection device was designed, implemented and tested. The device is capable of determining the level of motion, e.g., major or minor. A set of eight mercury sensors, placed at different directions and at different angles, permits determining the level as well as the direction of the patient motion. The sensors’ output signals were processed and interfaced to personal computer as well as to an LED board. The level and the direction of patient motion were successfully displayed on GUI which was programmed using Delphi software.
{"title":"Motion detection of patient in MRI using mechanical mercury switches","authors":"Musaab Hassan, S. Khider, S. Mahjob, Ibrahim Ahmed","doi":"10.1504/IJBBR.2012.049587","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049587","url":null,"abstract":"The quality of the MRI produced image is very sensitive to motion effects due to movement of the patient inside the device. In this project, motion detection device was designed, implemented and tested. The device is capable of determining the level of motion, e.g., major or minor. A set of eight mercury sensors, placed at different directions and at different angles, permits determining the level as well as the direction of the patient motion. The sensors’ output signals were processed and interfaced to personal computer as well as to an LED board. The level and the direction of patient motion were successfully displayed on GUI which was programmed using Delphi software.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131099677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049594
D. McColl, G. Nejat
Socially assistive robots can engage in assistive human-robot interactions (HRI) by providing rehabilitation of cognitive, social, and physical abilities after a stroke, accident or diagnosis of a social, developmental or cognitive disorder. However, there are a number of research issues that need to be addressed in order to design such robots. In this paper, we address one main challenge in the development of intelligent socially assistive robots: a robot’s ability to identify human non-verbal communication during assistive interactions. Namely, we present a unique non-contact automated sensory-based approach for identification and categorisation of human upper body language in determining how accessible a person is to a robot during natural real-time HRI. This classification will allow a robot to effectively determine its own reactive task-driven behaviour during assistive interactions. The types of interactions envisioned include providing reminders, health monitoring, and social and cognitive therapies. Preliminary experiments presented show the potential of integrating the proposed body language recognition and classification technique into a socially assistive robot partaking participating in HRI scenarios.
{"title":"A socially assistive robot that can interpret affective body language during one-on-one human-robot interactions","authors":"D. McColl, G. Nejat","doi":"10.1504/IJBBR.2012.049594","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049594","url":null,"abstract":"Socially assistive robots can engage in assistive human-robot interactions (HRI) by providing rehabilitation of cognitive, social, and physical abilities after a stroke, accident or diagnosis of a social, developmental or cognitive disorder. However, there are a number of research issues that need to be addressed in order to design such robots. In this paper, we address one main challenge in the development of intelligent socially assistive robots: a robot’s ability to identify human non-verbal communication during assistive interactions. Namely, we present a unique non-contact automated sensory-based approach for identification and categorisation of human upper body language in determining how accessible a person is to a robot during natural real-time HRI. This classification will allow a robot to effectively determine its own reactive task-driven behaviour during assistive interactions. The types of interactions envisioned include providing reminders, health monitoring, and social and cognitive therapies. Preliminary experiments presented show the potential of integrating the proposed body language recognition and classification technique into a socially assistive robot partaking participating in HRI scenarios.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"362 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124559515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049588
Hiroki Takahashi, Y. Baek, N. Sugita, M. Mitsuishi, S. Sora, A. Morita
At present, master and slave surgical assistant systems are being actively studied. However, most of the researches focus on the slave manipulator. It is very important to develop a suitable master manipulator in order to support a more comfortable surgical environment. It also could lead to an increase in the success rate of operations. In this research, a dedicated master manipulator was designed to improve the manipulability in robotic-assisted neurosurgery. This is done because the requirements to the neurosurgery such as workspace and precision are different from those of other surgeries. Therefore, the motion of neurosurgeons was first analysed. Then, this knowledge of motion was taken into account during designing phase. A link mechanism is proposed to ensure that the motion vector of the manipulator is analogous to that of the human hand. The experimental results validated that the manipulability was improved with the developed master manipulator.
{"title":"Design and use of a master manipulator for a micro-neurosurgical system based on motion analysis","authors":"Hiroki Takahashi, Y. Baek, N. Sugita, M. Mitsuishi, S. Sora, A. Morita","doi":"10.1504/IJBBR.2012.049588","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049588","url":null,"abstract":"At present, master and slave surgical assistant systems are being actively studied. However, most of the researches focus on the slave manipulator. It is very important to develop a suitable master manipulator in order to support a more comfortable surgical environment. It also could lead to an increase in the success rate of operations. In this research, a dedicated master manipulator was designed to improve the manipulability in robotic-assisted neurosurgery. This is done because the requirements to the neurosurgery such as workspace and precision are different from those of other surgeries. Therefore, the motion of neurosurgeons was first analysed. Then, this knowledge of motion was taken into account during designing phase. A link mechanism is proposed to ensure that the motion vector of the manipulator is analogous to that of the human hand. The experimental results validated that the manipulability was improved with the developed master manipulator.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131534842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049590
Yanxin Zhang, S. Anderson
Investigation of energy expenditure during human movement is essential in understanding movement control mechanism, which can provide useful information for clinical gait analysis and in designing assistive motion devices. With the advancement in technology, exoskeletons are becoming a commercial possibility. This research aimed to develop a biomechanical approach to evaluate the mechanical and metabolic energy expenditure of walking with an exoskeleton. A case study was conducted to examine the energy expenditure of walking with a non-powered lower limb exoskeleton compared to walking without its use. Testing results showed that walking with a non-powered lower limb exoskeleton significantly increased energy expenditure and there was a slight difference in the energy expenditure between a coupled and uncoupled hip reciprocating mechanism when using the exoskeleton.
{"title":"Investigation of energy expenditure for exoskeleton walking: a case study","authors":"Yanxin Zhang, S. Anderson","doi":"10.1504/IJBBR.2012.049590","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049590","url":null,"abstract":"Investigation of energy expenditure during human movement is essential in understanding movement control mechanism, which can provide useful information for clinical gait analysis and in designing assistive motion devices. With the advancement in technology, exoskeletons are becoming a commercial possibility. This research aimed to develop a biomechanical approach to evaluate the mechanical and metabolic energy expenditure of walking with an exoskeleton. A case study was conducted to examine the energy expenditure of walking with a non-powered lower limb exoskeleton compared to walking without its use. Testing results showed that walking with a non-powered lower limb exoskeleton significantly increased energy expenditure and there was a slight difference in the energy expenditure between a coupled and uncoupled hip reciprocating mechanism when using the exoskeleton.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133822788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-10-10DOI: 10.1504/IJBBR.2012.049595
Thomas Powelson, James Yang
Approximately 82% of all amputations performed in the USA are transtibial amputations, in which the leg is removed below the knee. Because the knee joint is left intact the use of prosthetics is one of the most preferred methods for returning mobility to amputees. The improvement of prosthetics for transtibial amputees is currently an area of intense research. The purpose of this paper is to have a technical survey for transtibial prosthetic including four major components associated with standard transtibial prosthetic. The socket transfers the forces between the residual limb and the prosthetic. A suspension system ensures that solid contact is maintained between the leg and the artificial limb. The prosthetic foot is attached to the socket by a pylon, which also accounts for length of limb lost during amputation. Prosthetic feet come in many forms ranging from little more than wooden blocks to carbon fibre sprinting feet. Two recent advances in transtibial prosthetics include the procedures of direct skeletal attachment, and distaltibiofibular bone bridging which increases the weight bearing capability of the residual limb.
{"title":"Literature review of prosthetics for transtibial amputees","authors":"Thomas Powelson, James Yang","doi":"10.1504/IJBBR.2012.049595","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049595","url":null,"abstract":"Approximately 82% of all amputations performed in the USA are transtibial amputations, in which the leg is removed below the knee. Because the knee joint is left intact the use of prosthetics is one of the most preferred methods for returning mobility to amputees. The improvement of prosthetics for transtibial amputees is currently an area of intense research. The purpose of this paper is to have a technical survey for transtibial prosthetic including four major components associated with standard transtibial prosthetic. The socket transfers the forces between the residual limb and the prosthetic. A suspension system ensures that solid contact is maintained between the leg and the artificial limb. The prosthetic foot is attached to the socket by a pylon, which also accounts for length of limb lost during amputation. Prosthetic feet come in many forms ranging from little more than wooden blocks to carbon fibre sprinting feet. Two recent advances in transtibial prosthetics include the procedures of direct skeletal attachment, and distaltibiofibular bone bridging which increases the weight bearing capability of the residual limb.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126070538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-02DOI: 10.1504/IJBBR.2011.043749
S. Kosta, Y. Kosta, Jignesh J. Patoliya, Y. M. Dubey, Jitendra Prasad Chuadhari, Avinash Gaur, S. S. Patel, S. Kosta, P. Panchal, Piyush R. Vaghela, Kalpesh N. Patel, Bhavin S. Patel, Bhargav Patel
Dynamics of charged nano particles of green leaf sap or photo synthesised liquid food under interaction of external EMF plays a vital role in the functioning of biomass electrical circuits. Using this concept, we for the first time realised a biomass Champo leaf transistor configuration. The functioning of bio electronic circuit components resistance R, capacitance C and diode have been earlier reported. From the theory of electronics, a transistor consist of two electronic diode connected back to back. This concept was utilised to realise biomass Champo leaf transistor configuration. The measured input characteristics (V BE vs I BE ) and output characteristics (V CE vs. I CE ) along with β are given. Applications towards plant/tree health, soil moisture monitoring and strategic communication are envisaged.
绿叶汁液或光合成液态食物的带电纳米粒子在外部电动势作用下的动力学对生物质电路的功能起着至关重要的作用。利用这一概念，我们首次实现了生物质Champo叶晶体管配置。生物电子电路元件电阻R、电容C和二极管的功能已经有较早的报道。根据电子学理论，晶体管由两个背靠背连接的电子二极管组成。这一概念被用于实现生物质Champo叶晶体管配置。给出了测量的输入特性(V BE vs I BE)和输出特性(V CE vs I CE)以及β。设想在植物/树木健康、土壤湿度监测和战略交流方面的应用。
{"title":"Biomass Champo leaf transistor configuration","authors":"S. Kosta, Y. Kosta, Jignesh J. Patoliya, Y. M. Dubey, Jitendra Prasad Chuadhari, Avinash Gaur, S. S. Patel, S. Kosta, P. Panchal, Piyush R. Vaghela, Kalpesh N. Patel, Bhavin S. Patel, Bhargav Patel","doi":"10.1504/IJBBR.2011.043749","DOIUrl":"https://doi.org/10.1504/IJBBR.2011.043749","url":null,"abstract":"Dynamics of charged nano particles of green leaf sap or photo synthesised liquid food under interaction of external EMF plays a vital role in the functioning of biomass electrical circuits. Using this concept, we for the first time realised a biomass Champo leaf transistor configuration. The functioning of bio electronic circuit components resistance R, capacitance C and diode have been earlier reported. From the theory of electronics, a transistor consist of two electronic diode connected back to back. This concept was utilised to realise biomass Champo leaf transistor configuration. The measured input characteristics (V BE vs I BE ) and output characteristics (V CE vs. I CE ) along with β are given. Applications towards plant/tree health, soil moisture monitoring and strategic communication are envisaged.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134540925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-02DOI: 10.1504/IJBBR.2011.043752
Neelesh Kumar, Gautam Sharma, Sahiba Sahi, Amod Kumar, B. S. Sohi
The measurement of ground reaction force (GRF) is important in biomechanical analysis for clinical gait assessment and gait research. The GRF measured by the force plate, along with the gravity, are the only significant external forces acting on the body during gait. The purpose of this study is to show the effects of walking speed on vertical ground reaction force (VGRF) F z using Kistler quartz force platform embedded on the floor. Since considerable differences in the gait of normal subjects arises due to ‘constrained’ walking, so subject are made to walk with their self selected walking speed in the walkway. Vertical component of the GRF was analysed from the recorded data using Bioware software. It was clearly observed that with increasing walking speed VGRF increased at F z 1 and F z 3 whereas decreased at F z 2 .
地面反作用力(GRF)的测量在生物力学分析、临床步态评估和步态研究中具有重要意义。通过测力板测量的GRF和重力是在步态过程中作用在身体上的唯一显著的外力。本研究的目的是利用嵌入地面的Kistler石英力平台，研究行走速度对地面垂直反力(VGRF) F z的影响。由于“受限”行走会导致正常受试者的步态出现相当大的差异，因此受试者在人行道上以自己选择的行走速度行走。利用Bioware软件从记录的数据中分析GRF的垂直分量。随着步行速度的增加，VGRF在fz1和fz3处增加，而在fz2处下降。
{"title":"Estimation of effects of walking speed to vertical ground reaction force","authors":"Neelesh Kumar, Gautam Sharma, Sahiba Sahi, Amod Kumar, B. S. Sohi","doi":"10.1504/IJBBR.2011.043752","DOIUrl":"https://doi.org/10.1504/IJBBR.2011.043752","url":null,"abstract":"The measurement of ground reaction force (GRF) is important in biomechanical analysis for clinical gait assessment and gait research. The GRF measured by the force plate, along with the gravity, are the only significant external forces acting on the body during gait. The purpose of this study is to show the effects of walking speed on vertical ground reaction force (VGRF) F z using Kistler quartz force platform embedded on the floor. Since considerable differences in the gait of normal subjects arises due to ‘constrained’ walking, so subject are made to walk with their self selected walking speed in the walkway. Vertical component of the GRF was analysed from the recorded data using Bioware software. It was clearly observed that with increasing walking speed VGRF increased at F z 1 and F z 3 whereas decreased at F z 2 .","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124445300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：