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TECHNICAL PAPERS: Joint/Whole Body

Experimental/Analytical Analysis of Human Locomotion Using Bondgraphs

[+] Author and Article Information
Cristian Pop, Amir Khajepour, Jan P. Huissoon

Aftab E. Patla

University of Waterloo, Waterloo, Ontario N2L 3G1, Canada

J Biomech Eng 125(4), 490-498 (Aug 01, 2003) (9 pages) doi:10.1115/1.1590356 History: Received February 15, 2001; Revised February 26, 2003; Online August 01, 2003
Copyright © 2003 by ASME
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References

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Figures

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Center of pressure of ground walking estimated with the model (dashed lines) compared with COP from the force plates readings (solid lines). The plot represents two consecutive steps as they were collected by force plates.
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a) COP (solid line) and COM (dashed line) for ground walking, b) COP (solid line) and COM (dashed line) for treadmill walking
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GRFs in x and y directions for left (dashed lines) and right (solid lines) foot predicted by the model in treadmill walking. The vertical lines indicate the regions for SS and DS phases.
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Ground reaction forces in treadmill walking in different subjects using the model, solid lines=left foot, dashed lines=right foot
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a) Free body diagram of a planar rigid body, b) Vectorial bondgraph model, c) Compact I field
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Stick representation of the model
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Bondgraph representation of the model using I-fields
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Bondgraphs of one segment. a) I-field presentation, b) Detailed model.
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Location of the IRED’s
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Single support and double support phase detection
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Difference function used for the three extra equations
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Comparison between horizontal GRF calculated using the model and those obtained from the force plate. L FP and R FP represents the left and right force plates readings. L M and R M are calculated left and right horizontal GRFs using the model.
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Comparison between vertical GRF calculated using the model (dashed lines) and those obtained from the force plate (solid lines)

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