학술논문
Walking motions and time-series of lower limb joint angles correlated with margin of stability / 転倒余裕と相関の高い歩行動作・下肢関節角度時系列パターン
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2021, :2-I09
Subject
Language
Japanese
ISSN
2424-3124
Abstract
To understand gait motions stable against fall, we computed the time-series of joint angles that are correlated with a popular kinetic gait stability index: margin of stability (MoS). A time-series extension of partial least square regression was applied on the joint angles to construct the principal motions, i.e., motion elements included in gait motions. These principal motions were linearly independent of each other and correlated with MoS. We computed the three principal motions that explain the large part of the variety of MoS using the gate database for 60 elderly people. The principal motions can be reasonably interpreted as stable gate motions in terms of MoS.