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

• Published in: 2017 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
• Language: English
• Published: United States IEEE 01.07.2017
• Subjects: Aerodynamics; Dictionaries; Exoskeletons; Legged locomotion; Robot kinematics; Wrist
• DOI: 10.1109/EMBC.2017.8037216
• ISSN: 1557-170X

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.