Development of a double inverted pendulum model for human gait analysis

Gait analysis is an essential tool in clinical rehabilitation. It facilitates the diagnosis, treatment, monitoring and implementation of methodologies that mitigate the effect of some pathologies associated with the movement. This analysis uses a systematic quantification, follow up and interpretati...

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Main Author: Ibrahim, Zameera
Format: Thesis
Language:English
Published: 2017
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Online Access:http://eprints.utm.my/id/eprint/87192/1/ZameeraIbrahimMSBME2018.pdf
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spelling my-utm-ep.871922020-11-30T09:00:41Z Development of a double inverted pendulum model for human gait analysis 2017 Ibrahim, Zameera QH301 Biology Gait analysis is an essential tool in clinical rehabilitation. It facilitates the diagnosis, treatment, monitoring and implementation of methodologies that mitigate the effect of some pathologies associated with the movement. This analysis uses a systematic quantification, follow up and interpretation of the temporal sequence of movement that characterize human locomotion. It also requires a collection of kinematic and kinetic data that describes the displacements, angles and forces on the lower limbs and its joints during a gait cycle. However experimental procedures are difficult to carry out, time consuming and experienced people are required. The aim of this project is formulation and implementation of a double inverted pendulum (DIP) model to desrible the dynamics of human gait. The model consists the physiological extension of a head-arms-trunk (HAT) and leg segment. LaGrangeEular mechanics used for mathematical modelling. Simulations were performed,using simulink and MATLAB sortware. The hip angle, angle. ankle angle and ground reaction forces were compared against experimental data. It was found that experimental hip angle matched against each other from 20% to 75% of gait cycle while the experimental ankle angle deviated considerably from model ankle angle from 50% gait cycle onwards. In addition, GRF calculations showed that both model and experiment horizontal GRF reached the same maximum value of 15% BW while the minimum values deviated considerably. On the other hand, vertical GRF of experiment and model followed a similar pattern although significant deviation were observed at mid cycle. As a result, the computed Root Mean Square Errow (RMSE) for the modelled and experimental results were considerably higher which could be attributable to uncertainties in the model input parameters. 2017 Thesis http://eprints.utm.my/id/eprint/87192/ http://eprints.utm.my/id/eprint/87192/1/ZameeraIbrahimMSBME2018.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:132594 masters Universiti Teknologi Malaysia, Faculty of Engineering - School of Biomedical Engineering and Health Sciences Faculty of Engineering. School of Biomedical Engineering and Health Sciences
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
language English
topic QH301 Biology
spellingShingle QH301 Biology
Ibrahim, Zameera
Development of a double inverted pendulum model for human gait analysis
description Gait analysis is an essential tool in clinical rehabilitation. It facilitates the diagnosis, treatment, monitoring and implementation of methodologies that mitigate the effect of some pathologies associated with the movement. This analysis uses a systematic quantification, follow up and interpretation of the temporal sequence of movement that characterize human locomotion. It also requires a collection of kinematic and kinetic data that describes the displacements, angles and forces on the lower limbs and its joints during a gait cycle. However experimental procedures are difficult to carry out, time consuming and experienced people are required. The aim of this project is formulation and implementation of a double inverted pendulum (DIP) model to desrible the dynamics of human gait. The model consists the physiological extension of a head-arms-trunk (HAT) and leg segment. LaGrangeEular mechanics used for mathematical modelling. Simulations were performed,using simulink and MATLAB sortware. The hip angle, angle. ankle angle and ground reaction forces were compared against experimental data. It was found that experimental hip angle matched against each other from 20% to 75% of gait cycle while the experimental ankle angle deviated considerably from model ankle angle from 50% gait cycle onwards. In addition, GRF calculations showed that both model and experiment horizontal GRF reached the same maximum value of 15% BW while the minimum values deviated considerably. On the other hand, vertical GRF of experiment and model followed a similar pattern although significant deviation were observed at mid cycle. As a result, the computed Root Mean Square Errow (RMSE) for the modelled and experimental results were considerably higher which could be attributable to uncertainties in the model input parameters.
format Thesis
qualification_level Master's degree
author Ibrahim, Zameera
author_facet Ibrahim, Zameera
author_sort Ibrahim, Zameera
title Development of a double inverted pendulum model for human gait analysis
title_short Development of a double inverted pendulum model for human gait analysis
title_full Development of a double inverted pendulum model for human gait analysis
title_fullStr Development of a double inverted pendulum model for human gait analysis
title_full_unstemmed Development of a double inverted pendulum model for human gait analysis
title_sort development of a double inverted pendulum model for human gait analysis
granting_institution Universiti Teknologi Malaysia, Faculty of Engineering - School of Biomedical Engineering and Health Sciences
granting_department Faculty of Engineering. School of Biomedical Engineering and Health Sciences
publishDate 2017
url http://eprints.utm.my/id/eprint/87192/1/ZameeraIbrahimMSBME2018.pdf
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