title: A Unified Parameterization of Human Gait Across Ambulation Modes.
abstract: This paper introduces a novel gait parameterization method that models gait kinematics as a continuous function of gait cycle phase, walking speed, and ground slope. Kinematic data was recorded from seven able-bodied subjects walking on a treadmill at twenty-seven combinations of walking speed and ground slope. Convex optimization was used to determine the parameters of a function of three variables that fits this experimental data. This function may be able to provide desired trajectories to a virtual constraint controller over a continuum of gait phases and ambulation modes. This could allow for a single, non-switching controller to control a prosthetic leg for a variety of tasks, avoiding many of the problems associated with the ubiquitous use of finite state machines in prosthesis control.
authors.affiliation: Department of Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.
authors.forename: Kyle R
authors.initials: KR
authors.lastname: Embry
authors.affiliation: Department of Bioengineering, University of Texas at Dallas, Richardson, TX 75080, USA.
authors.forename: Dario J
authors.initials: DJ
authors.lastname: Villarreal
authors.affiliation: Departments of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.
authors.forename: Robert D
authors.initials: RD
authors.lastname: Gregg
mesh_terms: D001696:Biomechanical Phenomena / Q000502:physiology*; D005684:Gait / Q000502:physiology*; D006801:Humans; D007866:Leg / Q000502:physiology; D008954:Models, Biological; D016138:Walking / Q000502:physiology*