Abstract
In this work, data on the movement of the human foot are experimentally obtained, by solving the inverse problem of kinematics, the laws of change in the angles of rotation of the lower limbs in time are obtained. For the construction of rehabilitation exercises, the parameters of the movements of the legs of a healthy person were used, which in the future will allow using the patterns obtained to recreate the patient's stepping movements in an exoskeleton—a robotic electromechanical system that allows reproducing the movements of the lower extremities. The use of simplified laws of foot movement leads to the formation of an incorrect gait of a person and increases the rehabilitation period. This complicates the development of a criterion for assessing the fidelity of reproduction. It is necessary to correctly select the points of the foot for measurements, since the real trajectory changes from step to step. Therefore, a method is considered for approximating the trajectory of the foot movement, taking into account the anthropometric parameters of the patient, based on video analysis of the gait, taking into account uncertainties, and statistical processing of the results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Dynamics of the spread of OA diseases in Russia and in the world. Spine and Joint Health. https://spinet.ru/public/dinamika_rasprostraneniy_oda.php, 14 Jun 2022
Vorobev, A.A., Petrukhin, A.V., Zasypkina, O.A., Krivonozhkina, P.S.: Exoskeleton as a new tool for habilitation and rehabilitation of people with disabilities (review). Modern Technol. Med. 7(2), 51–62 (2015). (In Russ.)
Shakti, D., Mathew, L., Kumar, N., Kataria, C.: Effectiveness of robo-assisted lower limb rehabilitation for spastic patients: a systematic review. Biosens. Bioelectron. 117, 403–415 (2018)
Zhang, X., Yue, Z., Wang, J.: Robotics in lower-limb rehabilitation after stroke. Behav. Neurol. (2017)
Cafolla, D., Russo, M., Carbone, G.: CUBE, a cable-driven device for limb rehabilitation. J. Bionic Eng. 16(3), 492–502 (2019)
Shi, D., Zhang, W., Zhang, W., Ding, X.: A review on lower limb rehabilitation exoskeleton robots. Chin. J. Mech. Eng. 32(1), 1–11 (2019)
Yatsun, S.F., Yatsun, A.S., Korenevsky, N.A.: Experience in designing rehabilitation exoskeletons. Med. Eng. 3, 48–51 (2017)
Charles, J.P., Grant, B., D’Août, K., Bates, K.T.: Foot anatomy, walking energetics, and the evolution of human bipedalism. J. Hum. Evol. 156, 103014 (2021)
Hannink, J., Ollenschläger, M., Kluge, F., Roth, N., Klucken, J., Eskofier, B.M.: Benchmarking foot trajectory estimation methods for mobile gait analysis. Sensors 17(9), 1940 (2017)
Tracker Video Analysis and Modeling Tool. https://physlets.org/tracker/, 14 Jun 2022
Skvortsov, D.V.: Clinical analysis of movements. In: Gait Analysis (1996) (In Russ.)
Mikheev, S.E.: On function smoothing. In: Proceedings of the Karelian Scientific Center of the Russian Academy of Sciences (2014) (In Russ.)
Smooth MathWorks. https://www.mathworks.com/help/curvefit/smooth.html, 14 Jun 2022
Polyfit MathWorks. https://www.mathworks.com/help/matlab/ref/polyfit.html, 14 Jun 2022
Vershik, A.M., Malozemov, V.N., Pevnyi, A.B.: The best piecewise polynomial approximation. Sib. 16(5), 925–938 (1975). (In Russ.)
Richter, C., Bry, A., Roy, N.: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. Robot. Res., 649–666 (2016)
Koltygin, D.S., Sedelnikov, I.A., Petukhov, N.V.: Analytical and numerical methods for solving the inverse kinematics problem for the robot Delta. Bull. Irkutsk State Tech. Univ. 21(5), 124 (2017)
Shmalko, E., Rumyantsev, Y., Baynazarov, R., Yamshanov, K.: Identification of neural network model of robot to solve the optimal control problem. Inf. Autom. 20(6), 1254–1278 (2021). https://doi.org/10.15622/ia.20.6.3
Yatsun, S.V., Al Manji, H.H.M., Postolny, A.A., Yatsun, A.S.: Modeling of gait patterns of patients with musculoskeletal system damage using an exoskeleton. Izvestia Southwestern State Univ. 23(6), 176–188 (2020) (In Russ.)
Kapustin, A.V., Loskutov, Yu.V., Kudriavtsev, I.A., Belogusev, V.N.: Ways to maintain a stable position of a rehabilitative medical exoskeleton while walking. Bull. Volga Region State Technol. Uni. Ser.: Mater. Des. Technol. 3, 44–54 (2018)
Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control, vol. 3, pp. 75–118. Wiley, New York (2006)
Acknowledgements
The article was prepared with the support of the Russian Scientific Foundation project 22-21-00464 “Development of models and control algorithms for biotechnical walking systems”.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this chapter
Cite this chapter
Malchikov, A., Pechurin, A., Jatsun, A. (2023). Simulation of Foot Movement During Walking Based on the Study of Different Step Parameters. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol 329. Springer, Singapore. https://doi.org/10.1007/978-981-19-7685-8_1
Download citation
DOI: https://doi.org/10.1007/978-981-19-7685-8_1
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-19-7684-1
Online ISBN: 978-981-19-7685-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)