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      Bifurcation and Chaotic Behaviors of a Passive Bipedal Walker with Leg Length Discrepancy and Unequal Leg Mass

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      https://www.riss.kr/link?id=A108875872

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      다국어 초록 (Multilingual Abstract)

      Asymmetric gait patterns may be observed in people with neurological or musculoskeletal disorders, in addition to healthy individuals. With reference to widely accepted research, leg length discrepancy and unequal leg mass are the main and direct causes of gait asymmetry, respectively. In previous studies, the independent influences of leg length discrepancy and unequal leg mass on gait patterns were investigated. However, the simultaneous effects of these factors on the gait patterns are unclear. It is therefore necessary to examine the effect of both factors on gait dynamics to determine the factors that cause more severe gait asymmetry. In this study, the effects of leg length discrepancy and unequal leg mass on gait patterns were investigated using a passive dynamic walking model. The findings revealed that gait asymmetry was more sensitive to leg length discrepancy than unequal leg mass by a factor of 60. As the rate of leg length and mass discrepancy changed, the output parameters characterizing the entire gait apparatus, such as step period, joint angular displacement, and joint angular speed, exhibited chaotic behaviors with bifurcations. Furthermore, when leg length discrepancy and unequal leg mass were simultaneously applied to the walking model, the effects of each factor on gait independently affect the gait patterns and gait patterns did not change in a new and unpredictable manner owing to nonlinearity. We expected that the asymmetric gait dynamics investigated in this study will contribute to the development of lower limb prosthetics and the gait training of patients with gait asymmetry.
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      Asymmetric gait patterns may be observed in people with neurological or musculoskeletal disorders, in addition to healthy individuals. With reference to widely accepted research, leg length discrepancy and unequal leg mass are the main and direct caus...

      Asymmetric gait patterns may be observed in people with neurological or musculoskeletal disorders, in addition to healthy individuals. With reference to widely accepted research, leg length discrepancy and unequal leg mass are the main and direct causes of gait asymmetry, respectively. In previous studies, the independent influences of leg length discrepancy and unequal leg mass on gait patterns were investigated. However, the simultaneous effects of these factors on the gait patterns are unclear. It is therefore necessary to examine the effect of both factors on gait dynamics to determine the factors that cause more severe gait asymmetry. In this study, the effects of leg length discrepancy and unequal leg mass on gait patterns were investigated using a passive dynamic walking model. The findings revealed that gait asymmetry was more sensitive to leg length discrepancy than unequal leg mass by a factor of 60. As the rate of leg length and mass discrepancy changed, the output parameters characterizing the entire gait apparatus, such as step period, joint angular displacement, and joint angular speed, exhibited chaotic behaviors with bifurcations. Furthermore, when leg length discrepancy and unequal leg mass were simultaneously applied to the walking model, the effects of each factor on gait independently affect the gait patterns and gait patterns did not change in a new and unpredictable manner owing to nonlinearity. We expected that the asymmetric gait dynamics investigated in this study will contribute to the development of lower limb prosthetics and the gait training of patients with gait asymmetry.

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      참고문헌 (Reference) 논문관계도

      1 Handžić, I., "Validation of a passive dynamic walker model for human gait analysis" 6945-6948, 2013

      2 Garcia, M., "The simplest walking model : Stability, complexity, and scaling" 120 (120): 281-288, 1998

      3 Khamis, S., "The efect of simulated leg length discrepancy on lower limb biomechanics during gait" 61 : 73-80, 2018

      4 Gregg, R. D., "The basic mechanics of bipedal walking lead to asymmetric behaviour" 1-6, 2011

      5 Khamis, S., "Relationship and signifcance of gait deviations associated with limb length discrepancy : A systematic review" 57 : 115-123, 2017

      6 Kim, J., "Passive dynamic walking with symmetric fxed fat feet" 24-30, 2007

      7 Mcgeer, T., "Passive dynamic walking" 9 : 62-82, 1990

      8 Subotnick, S. I., "Limb length discrepancies of the lower extremity(the short leg syndrome)" 3 (3): 11-16, 1981

      9 Walsh, M., "Leg length discrepancy–an experimental study of compensatory changes in three dimensions using gait analysis" 12 (12): 156-161, 2000

      10 Woerman, A. L., "Leg length discrepancy assessment : Accuracv and precision in fve clinical methods of evaluation" 5 (5): 230-239, 1984

      1 Handžić, I., "Validation of a passive dynamic walker model for human gait analysis" 6945-6948, 2013

      2 Garcia, M., "The simplest walking model : Stability, complexity, and scaling" 120 (120): 281-288, 1998

      3 Khamis, S., "The efect of simulated leg length discrepancy on lower limb biomechanics during gait" 61 : 73-80, 2018

      4 Gregg, R. D., "The basic mechanics of bipedal walking lead to asymmetric behaviour" 1-6, 2011

      5 Khamis, S., "Relationship and signifcance of gait deviations associated with limb length discrepancy : A systematic review" 57 : 115-123, 2017

      6 Kim, J., "Passive dynamic walking with symmetric fxed fat feet" 24-30, 2007

      7 Mcgeer, T., "Passive dynamic walking" 9 : 62-82, 1990

      8 Subotnick, S. I., "Limb length discrepancies of the lower extremity(the short leg syndrome)" 3 (3): 11-16, 1981

      9 Walsh, M., "Leg length discrepancy–an experimental study of compensatory changes in three dimensions using gait analysis" 12 (12): 156-161, 2000

      10 Woerman, A. L., "Leg length discrepancy assessment : Accuracv and precision in fve clinical methods of evaluation" 5 (5): 230-239, 1984

      11 Gurney, B., "Leg length discrepancy" 15 (15): 195-206, 2002

      12 Bhave, A., "Improvement in gait parameters after lengthening for the treatment of limb-length discrepancy" 81 (81): 529-534, 1999

      13 Kaufman, K. R., "Gait asymmetry in patients with limb-length inequality" 16 (16): 144-150, 1996

      14 Zhang, P., "Further research and comparison of gaits for compass-like biped and kneed passive dynamic walker" 1216-1226, 2008

      15 Kuo, A. D., "Energetics of actively powered locomotion using the simplest walking model" 124 (124): 113-120, 2002

      16 Collins, S. H., "Dynamic arm swinging in human walking" 276 (276): 3679-3688, 2009

      17 Gritli, H., "Cyclic-fold bifurcation in passive bipedal walking of a compass-gait biped robot with leg length discrepancy" 851-856, 2011

      18 Gritli, H., "Complex walking behaviors, chaos and bifurcations of a simple passive compassgait biped model sufering from leg length asymmetry" 13 (13): 446-462, 2018

      19 Goswami, A., "Compass-like biped robot part I : Stability and bifurcation of passive gaits"

      20 Ramakrishnan, T., "Comparing gait with multiple physical asymmetries using consolidated metrics" 12 : 2-, 2018

      21 Muratagic, H., "Combined efects of leg length discrepancy and the addition of distal mass on gait asymmetry" 58 : 487-492, 2017

      22 Moon, J. -S., "Classifcation of periodic and chaotic passive limit cycles for a compass-gait biped with gait asymmetries" 29 (29): 967-974, 2011

      23 Yunhee Chang ; Chang-Yong Ko ; Bo Ra Jeong ; Jung Sun Kang ; Hyuk-Jae Choi ; Gyoosuk Kim ; Hyunjun Shin ; Sehoon Park, "Changes in Spatiotemporal Parameters and Lower Limb Coordination During Prosthetic Gait Training in Unilateral Transfemoral Amputees" 한국정밀공학회 23 (23): 361-373, 2022

      24 Kamamichi, N., "Biped walking of passive dynamic walker with IPMC linear actuator" 123-128, 2003

      25 Yujin Gong ; Kiwon Park, "Bilateral Gait Asymmetry in Patients with Hallux Valgus using Normalized Cross-Correlation Function" 한국정밀공학회 22 (22): 373-382, 2021

      26 Moon, J. -S., "Bifurcations and chaos in passive walking of a compass-gait biped with asymmetries" 1721-1726, 2010

      27 Iqbal, S., "Bifurcations and chaos in passive dynamic walking : A review" 62 (62): 889-909, 2014

      28 Mochon, S., "Ballistic walking" 13 (13): 49-57, 1980

      29 Hyo-Joon Lee ; Jung-Yup Kim, "Balance Control Strategy of Biped Walking Robot SUBO-1 Based on Force-Position Hybrid Control" 한국정밀공학회 22 (22): 161-175, 2021

      30 Honeycutt, C., "Asymmetric passive dynamic walker" 1-6, 2011

      31 Rasouli, F., "Asymmetric gait analysis based on passive dynamic walking theory" 361-366, 2016

      32 Chyou, T., "An upper-body can improve the stability and efciency of passive dynamic walking" 285 (285): 126-135, 2011

      33 Collins, S. H., "A bipedal walking robot with efcient and human-like gait" 2005

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