Quasi-inverse pendulum model of 12 DoF bipedal walking

This paper presents modeling of a 12-degree of freedom (DoF) bipedal robot, focusing on the lower limbs of the system, and trajectory design for walking on straight path. Gait trajectories are designed by modeling of center of mass (CoM) trajectory and swing foot ankle trajectory based on stance foot ankle. The dynamic equations of motion of the bipedal robot are derived by considering the system as a quasi inverted pendulum (QIP) model. The direction and acceleration of CoM movement of the QIP model is determined by the position of CoM relative to the centre of pressure (CoP). To determine heel-contact and toe-off, two custom designed switches are attached with heel and toe positions of each foot. Four force sensitive resistor (FSR) sensors are also placed at the plantar surface to measure pressure that is induced on each foot while walking which leads to the calculation of CoP trajectory. The paper also describes forward kinematic (FK) and inverse kinematic (IK) investigations of the biped model where Denavit-Hartenberg (D-H) representation and Geometric-Trigonometric (G-T) formulation approach are applied. Experiments are carried out to ensure the reliability of the proposed model where the links of the bipedal system follow the best possible trajectories while walking on straight path.     

A low cost wearable wireless sensing system for paretic hand management after stroke

This paper describes the design of a low cost wearable hand exercise device that can assist repetitive wrist and finger exercise for stroke patients. The design of this device was guided by neurobiological principles of motor learning, such as sensory-motor integration, movement repetition, and cognitive interaction. This pilot study tested the efficacy of a wireless sensing system in the device to serve as a facilitator of repetitive hand exercise, which is an essential part of rehabilitation after stroke. The results from healthy young adults showed that the device with a wireless sensing system yielded quantitatively better motor function with the repetitive wrist and finger joint movements.This proof-of-concept study shows potential therapeutic evidence for stroke rehabilitation as well as the potential utility of sensing system for stroke rehabilitation.     

Center-of-pressure based postural sway measures: Reliability and ability to distinguish between age,fear of falling and fall history

The purpose of this study was to compare the test-retest reliability of a wide variety of center-of-pressure (CoP) based postural sway measures and their ability to detect the differences between the young and older groups (age comparison), between the older low- and high-fear of falling groups (fear of falling comparison), and between the older non-faller and faller groups (fall history comparison). Forty healthy females (twenty each in both young and older groups) performed three trials of bipedal quiet standing on a force platform, in which eighteen reported CoP based measures were computed from recorded CoP trajectory. Intra-class correlation coefficient (ICC), standard error of measurement (SEM) and %SEM were used to quantify their relative and absolute reliability. Fear of falling and retrospective falls of the older group were recorded using falls efficacy scale-international (FES-I) and the history of falls questionnaire respectively. Experimental results showed that eight measures (RMS distance, RMS distance-AP, mean velocity, mean velocity-AP, mean frequency, mean frequency-AP, phase plane parameter and fractal dimension) had acceptable levels of relative and absolute reliability. Three measures (RMS distance-AP, mean velocity, and phase plane parameter) were sensitive to detect age-group difference and fear of falling under both visual conditions, but no single measure was capable to detect differences between the non-faller and faller groups.Relevance to industryThe results of this research provide useful information on the selection of appropriate center-of-pressure (CoP) based postural sway measures to assess individual's balance ability for preventing the occupational falls.     

Effects of external light load on posture and foot pressure distribution in young adults: A pilot study

Holding an asymmetrical load, like a rucksack, grocery bag, or travel backpack, is a part of daily and occupational activities. This pilot study was aimed to determine the effects of light, asymmetrical, handheld load on the body posture and foot pressure distribution in young adults. Thirteen young volunteers, free of any injury or pain, took part in the study (aged 21.53 ± 1.10 years). All the study participants were right-handed. An additional load (4 kg, placed in the rucksack) was asymmetrically held in each hand while standing still. For evaluation of the posture and foot pressure distribution, the investigation focused on three positions, i.e., no-load, a rucksack in the right hand, a rucksack in the left hand. We used a surface topography system and force platform for evaluation of the body posture and foot pressure examination, respectively. The results showed that the main changes in the body posture caused by an external load application manifested in trunk imbalance. The trunk was shifted in the direction opposite to the load. Trunk imbalance changes were statistically significant in all three comparisons (p = 0.001). Interestingly, changes in the rotations and lateral deviation seem to be dependent on the hand dominance. Greater foot pressure was observed on the loaded limb (p < 0.01), and highly significant differences were noted between the left and right foot in both loaded postures (p < 0.001). Further research needs to be done to check if lateralization is connected with body posture while holding an external load.     

Unwind: a musical biofeedback for relaxation assistance

Unwind is a musical biofeedback interface which combines nature sounds and sedative music into a form of New-Age music for relaxation exercises. The nature sounds respond to the user’s physiological data, functioning as an informative layer for biofeedback display. The sedative music aims to induce calmness and evoke positive emotions. UnWind incorporates the benefits of biofeedback and sedative music to facilitate deep breathing, moderate arousal, and promote mental relaxation. We evaluated Unwind in a 2?×?2 factorial experiment with music and biofeedback as independent factors. Forty young adults performed the relaxation exercise under one of the following conditions after experiencing a stressful task: Nature sounds only (NS), Nature sounds with music (NM), and Auditory biofeedback with nature sounds (NSBFB), and UnWind musical biofeedback (NMBFB). The results revealed a significant interaction effect between music and biofeedback on the improvement of heart rate variability. The combination of music and nature sounds also showed benefits in lowering arousal and reducing self-report anxiety. We conclude with a discussion of UnWind for biofeedback and the wider potential of blending nature sounds with music as a musical interface.     

The effect of aging on muscle activation and postural control pattern for young and older computer users

A lot of older adults try to learn to use computers and might use different ways to perform a computer task compared to younger people. Fifteen healthy young and 15 healthy older adults participated in this study and all performed a series of mouse tasks. A three dimensional motion capture system and electromyographic analysis were used to obtain kinematic and kinetic data during performing the computer tasks. Three-way analysis of variance with repeated measures on task and time factors was used to analyze all dependent measurements. Older adults had higher RMS of forearm muscles compared to the young adults. The RMS of the finger extensor was highest when performing a dragging task. Compared with young adults, the older adults had greater cranial-cervical angle and neck flexion, but smaller head flexion, shoulder angle, elbow angle and ulnar deviation. Consequently, the older adults might have a greater risk of developing musculoskeletal disorder.     

Classification and mass production technique for three-quarter shoe insoles using non-weight-bearing plantar shapes

We have developed a technique for the mass production and classification of three-quarter shoe insoles via a 3D anthropometric measurement of full-size non-weight-bearing plantar shapes. The plantar shapes of fifty 40-60-year-old adults from Taiwan were categorized and, in conjunction with commercially available flat or leisure shoe models, three-quarter shoe-insole models were generated using a CAD system. Applying a rapid prototype system, these models were then used to provide the parameters for manufacturing the shoe insoles. The insoles developed in this study have been classified into S, M and L types that offer user-friendly options for foot-care providers. We concluded that these insoles can mate tightly with the foot arch and disperse the pressure in the heel and forefoot over the foot arch. Thus, practically, the pressure difference over the plantar region can be minimised, and the user can experience comfort when wearing flat or leisure shoes.     

Knowledge construction in an outsider community: Extending the communities of practice concept

We present an empirical analysis of a web forum in which followers of a health-related community exchange information and opinions in order to pass on and develop relevant knowledge. We analyzed how knowledge construction takes place in such a community that represents an outsider position which is not accepted by majority society. For this purpose we applied the Community of Practice (CoP) concept as a guideline for our analysis and found that many well-known activities of CoPs were true of the Urkost community. The social network analysis findings also supported interpreting this community as a CoP. But we found as well that this community had a variety of structural characteristics that the CoP literature deals with insufficiently. We identified the structure of goals, roles, and communication as relevant features that are typical of this outsider CoP. For example, the attitude of the core members towards people of a ‘different faith’ was characterized by strong hostility and rejection. These features provided an effective basis for the development and maintenance of a shared identity in the community. Our findings are discussed against the background of the necessity for further development of the CoP concept.     

On the controllability assessment of biofeedback eyeglasses used in Presbyopia treatment

In recent years, hybrid biofeedback systems utilizing user-controlled electrically tunable lenses have emerged as potential treatments for presbyopia. However, the controllability of these systems, closely linked to user adaptability, has received limited attention in the literature due to the challenges associated with obtaining a comprehensive system model. In this study, we present the design, implementation, and validation of an innovative experimental setup aimed at researching and evaluating the controllability of such a biofeedback system. Our setup incorporates a novel low-complexity model, considering the brain, natural lenses (e.g., the crystalline lens), and electrically tunable lenses, to establish a fundamental model for hybrid biofeedback systems. This model is developed based on an analysis of biofeedback systems, geometrical optics, and control theory, facilitating the identification of strategies to decouple system dynamics and enable precise controllability analysis. The proposed experimental setup was validated with volunteers, providing evidence that confirms the reliable operation of the biofeedback system. Our approach encourages a shift from conventional qualitative approaches toward quantitative evaluation of biofeedback devices. The proposed model and experimental setup hold the potential to statistically assess the controllability of hybrid biofeedback systems for correcting presbyopia, paving the way for further advancements in this field.     

The influence of moving auditory stimuli on standing balance in healthy young adults and the elderly

The maintenance of postural balance depends on effective and efficient feedback from various sensory inputs. The importance of auditory inputs in this respect is not, as yet, fully understood. The purpose of this study was to analyse how the moving auditory stimuli could affect the standing balance in healthy adults of different ages. The participants of the study were 12 healthy volunteers, who were divided into two age categories: the young group (mean = 21.9 years) and the elderly group (mean = 68.9 years). The instrument used for evaluation of standing balance was a force plate for measuring body sway parameters. The toe pressure was measured using the F-scan Tactile Sensor System. The moving auditory stimulus produced a white-noise sound and binaural cue using the Beachtron Affordable 3D Audio system. The moving auditory stimulus conditions were employed by having the sound come from the right to left or vice versa at the height of the participant's ears. Participants were asked to stand on the force plate in the Romberg position for 20 s with either eyes opened or eyes closed for analysing the effect of visual input. Simultaneously, all participants tried to remain in the standing position with and without auditory stimulation that the participants heard from the headphone. In addition, the variables of body sway were measured under four conditions for analysing the effect of decreased tactile sensation of toes and feet soles: standing on the normal surface (NS) or soft surface (SS) with and without auditory stimulation. The participants were asked to stand in a total of eight conditions. The results showed that the lateral body sway of the elderly group was more influenced than that of the young group by the lateral moving auditory stimulation. The analysis of toe pressure indicated that all participants used their left feet more than their right feet to maintain balance. Moreover, the elderly had the tendency to be stabilized mainly by use of their heels. The young group were mainly stabilized by the toes of their feet. The results suggest that the elderly may need a more appropriate stimulus of tactile and auditory sense as a feedback system than the young for maintaining and control of their standing postures.     

双足步行机器人的ZMP-CoP检测及研究

ZMP(零力矩点）和CoP(压力中心)是评价双足步行机构行走稳定性的重要参数．本文在研究了ZMP和CoP两者关系的基础上，根据THBIP-I仿人机器人基于ZMP理论的姿态调整要求和六维力/力矩传感器的安装位置，推导了适用于双足机器人的CoP计算公式，建立了采用六维力/力矩传感器的CoP检测系统．进行了THBIP-I仿人机器人行走过程的实际CoP检测实验，并对实验结果进行了讨论．实验证明了该系统的准确性.     

The influence of moving auditory stimuli on standing balance in healthy young adults and the elderly

The maintenance of postural balance depends on effective and efficient feedback from various sensory inputs. The importance of auditory inputs in this respect is not, as yet, fully understood. The purpose of this study was to analyse how the moving auditory stimuli could affect the standing balance in healthy adults of different ages. The participants of the study were 12 healthy volunteers, who were divided into two age categories: the young group (mean = 21.9 years) and the elderly group (mean = 68.9 years). The instrument used for evaluation of standing balance was a force plate for measuring body sway parameters. The toe pressure was measured using the F-scan Tactile Sensor System. The moving auditory stimulus produced a white-noise sound and binaural cue using the Beachtron Affordable 3D Audio system. The moving auditory stimulus conditions were employed by having the sound come from the right to left or vice versa at the height of the participant's ears. Participants were asked to stand on the force plate in the Romberg position for 20 s with either eyes opened or eyes closed for analysing the effect of visual input. Simultaneously, all participants tried to remain in the standing position with and without auditory stimulation that the participants heard from the headphone. In addition, the variables of body sway were measured under four conditions for analysing the effect of decreased tactile sensation of toes and feet soles: standing on the normal surface (NS) or soft surface (SS) with and without auditory stimulation. The participants were asked to stand in a total of eight conditions. The results showed that the lateral body sway of the elderly group was more influenced than that of the young group by the lateral moving auditory stimulation. The analysis of toe pressure indicated that all participants used their left feet more than their right feet to maintain balance. Moreover, the elderly had the tendency to be stabilized mainly by use of their heels. The young group were mainly stabilized by the toes of their feet. The results suggest that the elderly may need a more appropriate stimulus of tactile and auditory sense as a feedback system than the young for maintaining and control of their standing postures.     

A momentum-based balance controller for humanoid robots on non-level and non-stationary ground

Recent research suggests the importance of controlling rotational dynamics of a humanoid robot in balance maintenance and gait. In this paper, we present a novel balance strategy that controls both linear and angular momentum of the robot. The controller’s objective is defined in terms of the desired momenta, allowing intuitive control of the balancing behavior of the robot. By directly determining the ground reaction force (GRF) and the center of pressure (CoP) at each support foot to realize the desired momenta, this strategy can deal with non-level and non-stationary grounds, as well as different frictional properties at each foot-ground contact. When the robot cannot realize the desired values of linear and angular momenta simultaneously, the controller attributes higher priority to linear momentum at the cost of compromising angular momentum. This creates a large rotation of the upper body, reminiscent of the balancing behavior of humans. We develop a computationally efficient method to optimize GRFs and CoPs at individual foot by sequentially solving two small-scale constrained linear least-squares problems. The balance strategy is demonstrated on a simulated humanoid robot under experiments such as recovery from unknown external pushes and balancing on non-level and moving supports.     

<Emphasis Type="Italic">DeLight</Emphasis>: biofeedback through ambient light for stress intervention and relaxation assistance

Light is a common ambient medium to express additional information in a peripheral and calm way, but it is also an environmental stimulant to create atmosphere, evoke moods, and provide immersive experiences. Through the design of the DeLight system, we aim to establish a biofeedback-driven lighting environment that informs users about their stress level for intervention and assists them in biofeedback relaxation training. In this study, DeLight is interfaced with a heart rate variability biofeedback system with two modes for different purposes: stress intervention and relaxation assistance. We evaluated the prototype of DeLight in two user studies. The results of the first study show that DeLight has the potential for stress intervention; the HRV biofeedback through the changes of ambient light could improve a user’s awareness of stress and trigger behavioral conditioning, such as deep breathing. The results of the second study confirm that DeLight has potential as a new biofeedback interface for relaxation assistance; biofeedback through an immersive lighting environment can support physiological regulation as effectively as graphic biofeedback; it offers enhanced relaxation effects regarding both subjective experience and physiological arousal. These findings suggest that the biofeedback-driven ambient light can perform as persuasive technology in the domain of health self-management. The combination of decorative and informative aspects enables the lighting interface to offer the users a comfortable and relaxing condition for biofeedback-assisted relaxation training.     

Gait parameters as predictors of slip severity in younger and older adults

This study investigated the association between slip severity and pre-slip gait characteristics of younger and older subjects. Sixteen younger and eleven older healthy adults walked onto an unexpectedly slippery surface. Slip severity was categorized as either hazardous or non-hazardous using a 1.0 ms peak slip velocity threshold. The results showed that hazardous slips were associated with greater step lengths (normalized by leg length) (SLR), larger and more rapidly changing foot - floor angles (FFA) at heel strike, and increased cadence across the two subject groups. Older subjects were found to walk with shorter SLR and with smaller and more slowly changing FFA at heel strike compared to younger subjects. However, both younger and older subjects experienced hazardous slips at the same rate. A logistic regression model relating SLR and cadence to slip severity predicted that increased SLR and decreased cadence would result in increased probability of hazardous slip (R2 = 0.45, chi2 = 15.30, p<0.01). A second logistic regression model relating FFA with slip severity predicted that increased FFA would result in increased probability of hazardous slip (R2 = 0.53, chi2 = 16.55, p<0.01). These results suggest that gait characteristics prior to foot contact play an important role in the severity of an ensuing slip. The finding that older adults experienced hazardous slips at the same rate as young adults even though their SLR and FFA are smaller suggests that age is also playing a role in other aspects of postural control that impact slip severity.     

Changes in gait kinematics and posture with the use of a front pack

The objective of this study was to determine if posture during gait can be affected by position of the load. It was hypothesized that the front pack would result in postural changes in the gait cycle, compared to a similarly loaded backpack. Thirteen healthy adults, free of any injury, volunteered to participate in this study. Two dimensional video data were collected at 50 Hz using a MacReflex video system. A backpack and a front pack were compared using loads of 10 and 15% of body weight. Markers were placed on the ear, acromion, greater trochanter and lateral joint line of the knee, lateral malleolus and fifth metatarsophalangeal joint. Data were collected while the participants walked at 0.75 stride/s. The data were used to calculate joint angles and displacements during each gait cycle. There was a significant difference noted in angles of the hip flexion, with the backpack condition demonstrating a greater flexion in each stride than either the control or front pack. Both backpack and front pack conditions demonstrated a significant change in neck motion compared to the control condition. The results of the position analysis over time also revealed an increase in the forward head position when participants were wearing the backpack compared to either the control or the front pack condition. It was concluded that the use of a front pack results in a more upright posture in gait, when compared to a backpack carrying the same load.     

Changes in gait kinematics and posture with the use of a front pack

The objective of this study was to determine if posture during gait can be affected by position of the load. It was hypothesized that the front pack would result in postural changes in the gait cycle, compared to a similarly loaded backpack. Thirteen healthy adults, free of any injury, volunteered to participate in this study. Two dimensional video data were collected at 50 Hz using a MacReflex video system. A backpack and a front pack were compared using loads of 10 and 15% of body weight. Markers were placed on the ear, acromion, greater trochanter and lateral joint line of the knee, lateral malleolus and fifth metatarsophalangeal joint. Data were collected while the participants walked at 0.75 stride/s. The data were used to calculate joint angles and displacements during each gait cycle. There was a significant difference noted in angles of the hip flexion, with the backpack condition demonstrating a greater flexion in each stride than either the control or front pack. Both backpack and front pack conditions demonstrated a significant change in neck motion compared to the control condition. The results of the position analysis over time also revealed an increase in the forward head position when participants were wearing the backpack compared to either the control or the front pack condition. It was concluded that the use of a front pack results in a more upright posture in gait, when compared to a backpack carrying the same load.     

Accuracy and reliability of a technique for quantifying foot shape,dimensions and structural characteristics

A technique using a three-dimensional digitizing device for the measurements of foot dimension, shape and structural characteristics was developed. A total of 23 variables were calculated from the coordinates of 26 digitized points on the foot and the leg when body weight was supported mainly by one foot as the other foot was resting on a platform. All variables were measured with reference to an anatomically defined reference frame on the foot. The intra- and intertester reliability were tested both for the device and for the foot measurements. High reliability (ICC&gt; 0.999) was found for the device in measuring distances and angles on a plastic cube. Intra- and intertester reliability for the foot measurements were high (ICC&gt; 0.8) in most of the variables, with the lowest intratester reliability of 0.57 and the lowest intertester reliability of 0.38.     

Complete determination of the dynamic coefficients of coupled journal and thrust bearings considering five degrees of freedom for a general rotor-bearing system

A complete method is presented for calculating the stiffness and damping coefficients of coupled journal and thrust bearings of a general rotor-bearing system considering five degrees of freedom. The Reynolds equations and their perturbation equations were derived by linearization of the bearing reaction with respect to the general five degrees of freedom, i.e., the tilting displacements and angular velocities as well as the translational displacements and velocities. The Reynolds equations and their perturbation equations were transformed into finite element equations by considering the continuity of pressure and flow at the interface between the journal and the thrust bearings. The Reynolds boundary condition was included in the numerical analysis so as to simulate the phenomenon of cavitation. The stiffness and damping coefficients of the proposed method were compared with those found from a numerical differentiation of the loads with respect to the finite displacements and velocities of the bearing center. It was shown that the proposed method may be used to calculate the dynamic coefficients of coupled journal and thrust bearings more accurately and efficiently than the differentiation method. The tilting motion was also been found to play an important role in the determination of force and moment coefficients.     

Divided attention in experienced young and older drivers: lane tracking and visual analysis in a dynamic driving simulator.

A simulated driving task that required the simultaneous execution of two continuous visual tasks was administered to 12 healthy young (mean age 26.1 years) and 12 healthy older (mean age 64.4 years) experienced and currently active drivers. The first task was a compensatory lane-tracking task involving a three-dimensional road display. The second task was a timed, self-paced visual analysis task involving either a vocal or manual binary response to dot patterns projected within the road display. Using adaptive tasks, single-task difficulty was individually adjusted for each subject. To control for individual differences in attention allocation strategy, the dual task was performed according to three different sets of instructions based on the relative importance of each task. Compared with young adults, older adults showed a significantly decreased ability to divide attention. This effect was apparent in lane tracking and in the accuracy of visual analysis. The impairment of divided attention was less pronounced in the vocal condition than in the manual one. This suggests that difficulty in integrating responses may be an important determinant of poor dual-task performance in old age.