Abstract
In this paper finite-time Lyapunov exponents were estimated in order to quantify the local dynamic stability, based on the experimental time series of the flexion-extension and inversion-eversion angles of ankle joints, obtained from a group of five subjects with normal left ankles and right ankles suffering by repeated sprains with residual laxities walking over-ground and on plane and inclined treadmill with different speeds and inclinations.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Ottaviano, E., Ceccarelli. M., et al.: An experimental evaluation of human walking. In: 3rd International Congress Design and Modelling of Mechanical Systems, CMSM (2009)
Tarnita, D., et al.: Experimental characterization of human walking on stairs applied to humanoid dynamics. In: Advances in Robot Design and Intelligent Control, pp. 293–301. Springer (2016)
Berceanu, C., et al.: About an experimental approach used to determine the kinematics of the human finger. J. Solid State Phenom. 166–167, 45–50 (2010)
Ottaviano, E., et al.: An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking. Robotica 28(1), 119–133 (2010)
Tarnita, D., Marghitu, D.: Nonlinear dynamics of normal and osteoarthritic human knee. In: Proceedings of the Romanian Academy 18(4), pp. 353–360 (2017)
Mândru, D., Rusu, C., Teuţan, E.: Robotic systems for rehabilitation. In: 11th International Research/Expert Conference “Trends in the Development of Machinery and Associated Technology”, TMT 2007, Hammamet, Tunisia, pp. 1495–1498 (2007)
Tarnita, D., et al.: Contributions on the dynamic simulation of the virtual model of the human knee joint. Materialwissenschaft und Werkstofftechnik Mater. Sci. Eng. Technol. 40(1–2), 73–81 (2009). Special Edition Biomaterials, Willey-Vch.
Osuka, K., Kirihara, K.: Analysis and experiments of passive walking robot QUARTET II. In: IEEE International Conference on Robotics and Automation (2000)
Geonea, I., Tarnita, D.: Design and evaluation of a new exoskeleton for gait rehabilitation. Mech. Sci. 8(2), 307–322 (2017)
Carbone, G., Ceccarelli, M.: A low-cost easy-operation hexapod walking machine. Int. J. Adv. Robot. Syst. 5(2), 21 (2008)
Pisla, D., Plitea, N., Vaida, C.: Kinematic modeling and workspace generation for a new parallel robot used in minimally invasive surgery. In: Advances in Robot Kinematics: Analysis and Design, pp. 459–468 (2008)
Vaida, C., Plitea, N., Pisla, D., Gherman, B.: Orientation module for surgical instruments-a systematical approach. Meccanica 48, 145–158 (2013)
Dumitru, N., et al.: Dynamic analysis of an exoskeleton new ankle joint mechanism. In: New Trends in Mechanism and Machine Science, vol. 24, pp. 709–717. Springer (2015)
Goswami, A., Espiau, B., Keramane, A.: Limit cycles and their stability in a passive bipedal gait. In: Proceedings of the IEEE International Conference on Robotics and Automation (1996)
Goswami, A., Thuilot, B., Espiau, B.: A study of the passive gait of a compass-like biped robot: symmetry and Chaos. Int. J. Robot. Res. 7, 1282–1301 (1998)
Nakamura, Y., Sekiguchi, A.: The chaotic mobile robot. IEEE Trans. Robot. Autom. 17, 898–904 (2001)
Nehmzow, U.: Scientific Methods in Mobile Robotics: Quantitative Analysis of Agent Behavior. Springer (2006)
Tarnita, D.: Wearable sensors used for human gait analysis. Rom. J. Morphol. Embryol. 57(2), 373–382 (2016)
Tarnita, D., et al.: Application of nonlinear dynamics to gait analysis on plane & inclined treadmill. In: New Trends Medical and Service Robots, vol. 39, pp. 59–73. Springer (2016)
Tarnită, D., et al.: Numerical simulations and experimental human gait analysis using wearable sensors. In: New Trends in Medical and Service Robots, MESROB 2016. Mechanism and Machine Science, vol. 48, pp. 289–304. Springer, Cham (2018)
Takens, F.: Detecting strange attractors in fluid turbulence. In: Dynamical System Turbulence, pp. 366–381. Springer, Berlin (1981)
Fraser, A.M., Swinney, H.L.: Independent coordinates for strange attractors from mutual information. Phys. Rev. A 33, 1134–1140 (1986)
Kennel, M.B., Brown, R., Abarbanel, H.D.I.: Determining minimum embedding dimension using a geometrical construction. Phys. Rev. A 45, 3403–3411 (1992)
Dingwell, J.B., et al.: Local dynamic stability versus kinematic variability of continuous overground and treadmill walking. J. Biomech. Eng. Trans. ASME 123, 27–32 (2001)
Rosenstein, M.T., Collins, I.J., Deluca, C.J.: A practical method for calculating largest Lyapunov exponents from small data sets. Phys. D 65, 117–134 (1993)
England, S.A., Granata, K.P.: The influence of gait speed on local dynamic stability of walking. Gait Posture 25(2), 172–178 (2007)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Tarnita, D., Georgescu, M., Geonea, I., Petcu, A., Tarnita, DN. (2019). Nonlinear Analysis of Human Ankle Dynamics. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_27
Download citation
DOI: https://doi.org/10.1007/978-3-030-00329-6_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00328-9
Online ISBN: 978-3-030-00329-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)