TY - GEN
T1 - Functional asymmetry in a five-link 3D bipedal walker
AU - Gregg, Robert D.
AU - Dhaher, Yasin
AU - Lynch, Kevin M.
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84055213545&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84055213545&partnerID=8YFLogxK
U2 - 10.1109/IEMBS.2011.6091927
DO - 10.1109/IEMBS.2011.6091927
M3 - Conference contribution
C2 - 22256152
AN - SCOPUS:84055213545
SN - 9781424441211
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 7820
EP - 7823
BT - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
T2 - 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2011
Y2 - 30 August 2011 through 3 September 2011
ER -