NDLI: An analysis of leg joint synergy during backward walking

Content Provider	IEEE Xplore Digital Library
Author	Suenaga, H. Hashizume, Y. Nishii, J.
Copyright Year	2013
Description	Author affiliation: Grad. Sch. of Sci. & Eng., Yamaguchi Univ., Yoshida, Japan (Suenaga, H.; Hashizume, Y.; Nishii, J.)
Abstract	Grasso et al. (1998) proposed the hypothesis that motor commands for the backward walking is designed so as to reproduce the reversal motion of forward walking. In this study, we analyzed the leg joint synergy in backward walking by the UCM analysis and compared the results with the time reversal profile of the synergy in forward walking. Some similarities between them were observed, e.g., the body posture is controlled by utilizing joint synergy during double support phase. However, differences were also observed during swing phase, e.g., at touch down at the end of swing phase the joint synergy is utilized to adjust the foot position in backward walking, contrary in forward walking the synergy is not utilized but the variance of joint angles are suppressed. The results indicate that the backward walking is not a reversal motion of forward walking, but planned independently of forward walking.
Starting Page	7476
Ending Page	7479
File Size	279554
Page Count	4
File Format	PDF
ISBN	9781457702167
ISSN	1557170X
DOI	10.1109/EMBC.2013.6611287
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-07-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Joints Hip Trajectory Manifolds Foot Knee
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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