The basic mechanics of bipedal walking lead to asymmetric behavior

This paper computationally investigates whether gait asymmetries can be attributed in part to basic bipedal mechanics independent of motor control. Using a symmetrical rigid-body model known as the compass-gait biped, we show that changes in environmental or physiological parameters can facilitate a...

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Bibliographic Details
Main Authors: Gregg, R. D., Degani, A., Dhaher, Y., Lynch, K. M.
Format: Conference Proceeding
Language:English
Subjects:
Bifurcation
Biomechanical Phenomena
Eigenvalues and eigenfunctions
Humans
Kinetics
Leg
Legged locomotion
Models, Theoretical
Physiology
Robotics - methods
Steady-state
Walking - physiology
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Summary:This paper computationally investigates whether gait asymmetries can be attributed in part to basic bipedal mechanics independent of motor control. Using a symmetrical rigid-body model known as the compass-gait biped, we show that changes in environmental or physiological parameters can facilitate asymmetry in gait kinetics at fast walking speeds. In the environmental case, the asymmetric family of high-speed gaits is in fact more stable than the symmetric family of low-speed gaits. These simulations suggest that lower extremity mechanics might play a direct role in functional and pathological asymmetries reported in human walking, where velocity may be a common variable in the emergence and growth of asymmetry.
ISSN:1945-7898
1945-7901
DOI:10.1109/ICORR.2011.5975459