Passive Mechanical Walkers are a Proxy for Studying Dynamic Balance in Human Gait.pdf

Passive mechanical walkers have been shown to be proxies for the study of human gait. Both humans and walkers can be modeled as inverted pendulums wherein the center of mass pivots passively over the foot. Previous studies have largely examined similarities in energy efficiency and stability based on Lyapunov exponents computed on various gait parameters. This study examines the similarities between human and passive-dynamic walkers using the duPont balance index (DN). DN measures the excursion of the COM in a coordinate system defined by the line joining the feet (IFL). Furthermore, since balance loss via tripping or slipping induces a rotation of the subject, moment of inertia (MOI) considerations also play a role. It is seen that for both walkers and humans, the IFL coordinate system tracks with the principle MOI and that the MOI about the IFL is less than that about either foot axis indicating that the IFL is a preferred axis of rotation for potential falls. Such rotation is noted during actual falls of passive dynamic walkers.



Work Title Passive Mechanical Walkers are a Proxy for Studying Dynamic Balance in Human Gait.pdf
Open Access
  1. Janick, Timothy Herbert
  2. Niiler, Timothy
  1. Passive Dynamic Walking
  2. Balance
  3. Passive Mechanical Walker
  4. Physics
  5. Biomechanics
  6. EURECA 2017
  7. Brandywine
  8. Poster
License Attribution-NonCommercial 3.0 United States
Work Type Poster
Deposited April 11, 2017




This resource is currently not in any collection.

Work History

Version 1

  • Created
  • Added gb5644s40p_version1_Passive_Mechanical_Walkers_are_a_Proxy_for_Studying_Dynamic_Balance_in_Human_Gait.pdf
  • Added Creator Janick, Timothy Herbert
  • Added Creator Niiler, Timothy
  • Published
  • Updated