Project Details
Projekt
Analysis and Synthesis of releasing the push-off catapult during human walking
Applicant
Dr. Susanne Lipfert
Subject Area
Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
Term
from 2015 to 2017
Project identifier
Deutsche Forschungsgemeinschaft (DFG) - Project number 267093216
Technical reproduction of human walking causes challenges. While today's prosthetic legs are highly developed, some of their functions are still deficient when compared to the human archetype. Only recently, the function of a catapult action at the end of the stance phase in human walking has been described. Here, the ankle joint shows an impressive power peak during push-off. This is made possible by a proper coordination of the knee and ankle joints, which has not been implemented in technical devices, yet. So far, the timing and coordination of the release to this push-off catapult have not been identified. Investigating this release is the aim of this project. Kinematic and dynamic experimental data obtained from walking humans will be used to apply inverse dynamics and calculate joint and segment dynamics. The dynamics of thigh and shank will reveal how the segment chain prepares for launch and what mechanical structure ultimately releases the energy that accelerates the trailing stance leg into swing. Researchers at the Biorobotics Laboratory (BIOROB) of The École Polytechnique Fédérale de Lausanne (EPFL) are developing a neuromechanical model to simulate and control bipedal walking. This simple bipedal locomotion model shows that local processes lead to global leg behaviour without central control, which is an important feature e.g. for man-machine interaction. Moreover, the properties of this model (e.g. specified mass and inertia of the body segments) allow to investigate the release mechanism of the push-off catapult found at the end of the stance phase in human walking. This kind of simple neuromechanical modeling of human gait is still rare. Comparison of data obtained from human walking and data obtained from the model will show to what extent the release mechanism is already implicated by simulated neuronal reflexes. Discovered differences shall be compensated by complementation of the model with explicit joint coordination. Understanding the release mechanism and its underlying neuromuscular coordination will enable better gait rehabilitation and help develop controllers for better gait assistive devices and other technical gait models. Robotic researchers and prosthetic designers will profit largely from the results of this project. The quality of life for amputees and people challenged by paralyzes will be increased when results of this projects are considered in assistive devices. Pilots with disabilities will be able to compete in races and improve public awareness not only about their challenges but also about their opportunities when using assistive devices.
DFG Programme
Research Fellowships
International Connection
Switzerland
