University of Twente Student Theses


Human lower limb gait analysis of walking on uneven terrain

Kaiser, Jesse (2019) Human lower limb gait analysis of walking on uneven terrain.

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Abstract:Nowadays exoskeletons are primarily used in controlled environments. In order to increase the applicability of exoskeletons by using them outside of these controlled environments, they need to have a robust controller capable of handling outside terrain and obstacles. Therefore, this research aims to find lower limb gait parameters able to detect uneven terrain without a delay to be implemented in an adaptive exoskeleton controller. Additionally, research was performed on finding kinematic and kinetic input for desired lower limb joint angle and moment trajectory generation. To accomplish this, experiments were performed with ten healthy subjects while stepping on a beam. Kinematics and kinetics were measured using inertial measurement units and a dual force plate situated under the beam. The experimental conditions consisted of three different foot placements (forefoot, midfoot and rearfoot), three different beam heights (32mm, 58mm and 81mm) and two beam orientations. Results showed that the leading ankle, knee and hip angle could be used as parameters to detect beam height and foot placement before or at heel strike, while the center of mass height could detect these during mid stance. Furthermore, kinetic results showed a delayed moment onset for the rearfoot condition in the leading knee. The forefoot condition showed an increased joint moment compared to level, with the largest increase in moment amplitude for the leading ankle joint. Using a linear discrimination method proved that early beam detection is possible using kinematic data. The gathered kinematic and kinetic data could also provide input parameters for desired trajectory determination, usable in exoskeleton control. This information can be the basis for human inspired adaptive controller for lower limb exoskeletons.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:42 biology, 44 medicine, 52 mechanical engineering
Programme:Biomedical Engineering MSc (66226)
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