Abstract
This paper proposes a mathematical model of the walking with canes for an anthropomorphic biped with two identical legs with massless feet, two identical arms, and a torso. The walking is performed in the sagittal plane. The period of the walking gait is the stride that is composed of single support (SS) phase on the first leg, an instantaneous double support (DS) phase, a SS phase on the other leg and another instantaneous DS phase. The stride is the period of this cyclic walking, because the motion of coupled arms is synchronized on this stride. The cane is considered massless. Thus, in order to compare the walking with and without massless cane, the same dynamic model is considered. Numerical tests show that the magnitude of the ground reaction in the stance foot is less with a massless-cane assistance than without one. Especially, the results prove that it is better to use canes with a handle that allows to apply on it a force and a moment by the user. These results highlight the importance of handles in the designing process of the canes. This theoretical study may benefit the design of new canes to overcome a disability on the lower limbs with further researches.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Agrawal, A., Harib, O., Hereid, A., Finet, S., Masselin, M., Praly, L., Ames, A.D., Sreenath, K., Grizzle, J.W.: First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons. IEEEAccess (2017). https://doi.org/10.1109/ACCESS.2017.2690407
Beletskii, V.V., Chudinov, P.S.: Parametric optimization in the problem of bipedal locomotion. Izv. An SSSR. Mekhanika Tverdogo Tela [Mechanics of Solids] 12(1), 25–35 (1977)
Chevallereau, C., Aoustin, Y.: Optimal reference trajectories for walking and running of a biped. Robotica 19(5), 557–569 (2001)
Chevallereau, C., Bessonnet, G., Abba, G., Aoustin, Y.: Bipedal Robots: Modeling, Design and Building Walking Robots. ISTE and Wiley Editions, New-York (2009)
De-Leon-Gomez, V., Santibanez, V., Moreno-Valenzuela, J.: A procedure to find equivalences among dynamics models of planar biped robots. Simul. Model. Pract. Theory 75, 48–66 (2017)
Di, P., Hasegawa, Y., Nakagawa, S., Sekiyama, K., Fukuda, T., Huang, J., Huang, Q.: Fall detection and prevention control using walking-aid cane robot. IEEE/ASME Trans. Mechatron. 21(2), 625–637 (2016)
Di, P., Sekiyama, K., Huang, J., Nakagawa, S., Chein, F., Fukuda, T.: A real time posture control for stability improvement of intelligent cane robot. In: Proceedings of International Symposium of IEEE Micro-NanoMechatronics and Human Science (MHS), Nagoya, Japan, pp. 346–351 (2012)
Formalskii, A.M.: Locomotion of Anthropomorphic Mechanisms, Nauka, Moscow, Russia (1982). (in Russian)
Ivanov, A., Formal’skii, A.: Mathematical modeling of crutch walking. J. Comput. Syst. Sci. Int. 54(2), 315–329 (2015)
Le, F., Wu, X., Yu, S., Zhang, B., Xu, Y.: A humanoid mini-walking robot with a stick. In: Proceedings of International Conference of IEEE Information and Automation, Zhuhai/Macau, China, pp. 22–25 (2009)
Mekki, P., Borghetti, M., Sardini, E., Sepelloni, M.: Wireless instrumented cane for walking monitoring in Parkinson patients. In: Proceedings of International Symposium of IEEE on Medical Measruements and Applications (MeMeA), Roschester, MN, USA, pp. 414–419 (2017)
Shimizu, H., Wakazuki, Y., Pan, Y., Furuta, K.: Biped walking robot using a stick on uneven ground. In: Proceedings of International Conference of IEEE SICE Annual Conference, Takamatsu, Japan, pp. 83–88 (2007)
Wade, J., Beccani, M., Myszka, A., Bekele, E., Valdastri, P., Flemming, P., de Riesthal, M., Withrow, T., Sarkar, N.: Design and implementation of an instrumented cane for gait recognition. In: Proceedings of International Conference of IEEE on Robotics and Automation, Seattle, USA, pp. 5904–5909 (2015)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
De Leon Gomez, V., Barone, C., Aoustin, Y., Chevallereau, C. (2019). Study of the Walking Efficiency of a Human with a Cane. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_47
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_47
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)