A Multi-metric Modular Framework for Human-like Gait Analysis Based on a Recorded Set of Variable Gait Patterns

Conference paper (2022)

Authors

S. Kapteijn Student
Wansoo Kim Hanyang University
L. Marchal Crespo Human-Robot Interaction - Mechanical, Maritime and Materials Engineering , University of Bern
L. Peternel Human-Robot Interaction - Mechanical, Maritime and Materials Engineering
Research Group
Human-Robot Interaction (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 S. Kapteijn, Wansoo Kim, L. Marchal Crespo, L. Peternel
DOI: https://doi.org/10.1109/Humanoids53995.2022.10000194
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Published Date

2022

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Human-Robot Interaction

Abstract

Walking is an essential part of almost all activities of daily living. We use different gait patterns in different situations, e.g., moving around the house, performing various sports, or when compensating for an injury. However, how humans perform this gait tailoring remains a partially unknown process. To this end, the influence of various performance metrics on the optimality and diversity of gait patterns can provide us with more insight. To analyse gait in terms of pattern diversity and performance metrics related to physical aspects, such as joint torque, fatigue, and manipulability, we propose a multi-metric gait analysis framework that simultaneously accounts for these parameters. We used a recorded set of versatile gait patterns that are already dynamically stable and physiologically feasible. To that end, 45 gait variations-varying in stride length, step height, and walking speed-were recorded in a motion capture experiment. Results of analysis using the recorded dataset are presented for a baseline case (with all optimisation weights set to one), which serves as the first step for future research, in particular giving insights into specific aspects of the gait, e.g., joint loading, long-term performance, and capacity to sustain ground reaction forces.