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ME Special Seminar | Predicting Amputee Walking Gait Using Ideas from Underactuated Robot
Mechanical Engineering Special Seminar Series
Predicting Amputee Walking Gait Using Ideas from Underactuated Robot
Speaker: Anne Martin
This talk presents a model of intermediate complexity based on the Hybrid Zero Dynamics (HZD) control approach originally developed for point-foot, underactuated robots. By incorporating feet into the model and correctly choosing the objective function for gait optimizations, the HZD-based model can be extended to accurately predict the lower-limb kinematics and energy expenditure of healthy human walking across a wide range of speeds. The inclusion of feet in the model requires new derivations of the stability and periodicity conditions. To use the model to investigate amputee gait, it must be further extended to allow asymmetrical gait. This talk will describe the model, discuss the technical details of its extension from the original robotic formulation, demonstrate its predictive capabilities for healthy human walking gait via the results of a validation study using existing human data, and present ongoing work in quantifying the trade-off between symmetric and efficient amputee gait. This talk will also discuss how robotic modeling and controls techniques can be used to address health care problems, particularly gait-related problems.
This Event is For: Public • Graduate • Faculty