Functional asymmetry in a five-link 3D bipedal walker

Robert D. Gregg, Yasin Dhaher, Kevin M. Lynch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper uses a symmetrical five-link 3D biped model to computationally investigate the cause, function, and benefit of gait asymmetry. We show that for a range of mass distributions, this model has asymmetric walking patterns between the left and right legs, which is due to a phenomenon known as period-doubling bifurcation. The ground reaction forces of each leg reflect different roles, roughly corresponding to support, propulsion, and motion control as proposed by the hypothesis of functional asymmetry in human walking. These results suggest that natural mechanics could be responsible for asymmetry in able-bodied walking, rather than neurophysiological mechanisms such as leg dominance.

Original languageEnglish (US)
Title of host publication33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Pages7820-7823
Number of pages4
DOIs
Publication statusPublished - Dec 26 2011
Externally publishedYes
Event33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 - Boston, MA, United States
Duration: Aug 30 2011Sep 3 2011

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
CountryUnited States
CityBoston, MA
Period8/30/119/3/11

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ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Gregg, R. D., Dhaher, Y., & Lynch, K. M. (2011). Functional asymmetry in a five-link 3D bipedal walker. In 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011 (pp. 7820-7823). [6091927] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/IEMBS.2011.6091927