title: A modelling approach to the dynamics of gait initiation.
abstract: Gait initiation is an integral and complex part of human locomotion. In this paper, we present a novel compliant-leg model-based approach to understanding the key phases of initiation, the nature of the effective forces involved in initiation, and the importance of the anticipatory postural adjustments (APAs). The results demonstrate that in the presence of APAs, we observe a change in the characteristic of forcing required for initiation, and the energetic cost of gait initiation is also reduced by approximately 58%. APAs also result in biologically relevant leg landing angles and trajectories of motion. Furthermore, we find that a sublinear functional relationship with the velocity error from steady state predicts the required force, consistent with an open loop control law basis for gait initiation.
authors.affiliation: School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette IN, USA manand@purdue.edu.
authors.forename: Manish
authors.identifier: 0000-0002-2146-052X
authors.initials: M
authors.lastname: Anand
authors.affiliation: School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette IN, USA.
authors.forename: Justin
authors.initials: J
authors.lastname: Seipel
authors.affiliation: Department of Health and Kinesiology, Purdue University, 800 West Stadium Avenue, West Lafayette IN, USA.
authors.forename: Shirley
authors.initials: S
authors.lastname: Rietdyk
mesh_terms: D005260:Female; D005684:Gait / Q000502:physiology*; D006801:Humans; D008297:Male; D008954:Models, Biological; D004856:Postural Balance / Q000502:physiology*
keywords: SLIP; gait initiation. locomotion; open loop