Human locomotion analysis: Identifying a dynamic mapping between upper and lower limb joints using the Koopman operator

Human locomotion is a complex process that shows some inherent synergies and coordination, also called inter-joint coordination, between the upper and lower limbs. In this paper, we investigate the use of Koopman operator to identify a dynamic mapping between an upper limb and its contra-lateral low...

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Published in2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) Vol. 2017; pp. 1889 - 1892
Main Authors Boudali, A. Mounir, Sinclair, Peter J., Smith, Richard, Manchester, Ian R.
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.07.2017
Subjects
Aerodynamics
Dictionaries
Exoskeletons
Legged locomotion
Robot kinematics
Wrist
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Summary:Human locomotion is a complex process that shows some inherent synergies and coordination, also called inter-joint coordination, between the upper and lower limbs. In this paper, we investigate the use of Koopman operator to identify a dynamic mapping between an upper limb and its contra-lateral lower limb in the human locomotion. We perform a human locomotion analysis in the sagittal plane and restrict the study to the forward motion; more specifically, a straight walking task at a constant speed. We use canes as walking aids to provide additional information about the terrain and enforce a frequency locking between the upper and lower body. This mapping will provide a model of the human locomotion.
ISSN:1557-170X
DOI:10.1109/EMBC.2017.8037216