On the mechanics of functional asymmetry in bipedal walking.

IEEE Transactions on Bio-medical Engineering
Robert D GreggKevin M Lynch

Abstract

This paper uses two symmetrical models, the passive compass-gait biped and a five-link 3-D biped, to computationally investigate the cause and function of gait asymmetry. We show that for a range of slope angles during passive 2-D walking and mass distributions during controlled 3-D walking, these models have asymmetric walking patterns between the left and right legs due to the phenomenon of spontaneous symmetry-breaking. In both cases a stable asymmetric family of gaits emerges from a symmetric family of gaits as the total energy increases (e.g., fast speeds). 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 able-bodied human walking. These results suggest that body mechanics, independent of neurophysiological mechanisms such as leg dominance, may contribute to able-bodied gait asymmetry.

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Citations

Jan 6, 2015·IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society·Robert D GreggJonathon W Sensinger
Jan 2, 2015·IEEE Transactions on Control Systems Technology : a Publication of the IEEE Control Systems Society·Robert D Gregg, Jonathon W Sensinger
Dec 6, 2012·IEEE Transactions on Bio-medical Engineering·Elliott J RouseJonathon W Sensinger
Mar 7, 2015·Human Movement Science·Jeff A NesslerAndrew Punsalan
Feb 17, 2017·IEEE Journal of Biomedical and Health Informatics·Priyanka MandalM Jamal Deen
Nov 1, 2016·Neurorehabilitation and Neural Repair·James M Finley, Amy J Bastian
Aug 11, 2018·Journal of Neuroengineering and Rehabilitation·Philippe MalcolmDirk De Clercq
Feb 13, 2021·Journal of Functional Morphology and Kinesiology·Kara B BellenfantChristopher G Ballmann
May 20, 2021·Journal of Biomechanical Engineering·Aikaterini SmyrliEvangelos Papadopoulos
Sep 24, 2021·Neurorehabilitation and Neural Repair·Deepak K RaviNavrag B Singh

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