Orbital stability analysis is an approach to quantify stability of periodic limit cycle systems; widely applied to robotics, this technique has recently gained interest as a method to quantify stability of locomotion [Dingwell, 2007], but still the use of this technique in the assessment of fall risk has been deemed controversial [Hamacher, 2011]. A possible cause of this controversy could lie in the lack of a “standard” implementation of this technique, and simulations represent an important instrument to explore how implementation differences affect the analysis. The aim of this study was to explore how different state space compositions affect kinematic orbital stability analysis of a stable walking model and the influence of simulated experimental noise on the results.

IN-SILICO ASSESSMENT OF ORBITAL STABILITY ANALYSIS APPLIED TO WALKING

RIVA, FEDERICO;STAGNI, RITA
2012

Abstract

Orbital stability analysis is an approach to quantify stability of periodic limit cycle systems; widely applied to robotics, this technique has recently gained interest as a method to quantify stability of locomotion [Dingwell, 2007], but still the use of this technique in the assessment of fall risk has been deemed controversial [Hamacher, 2011]. A possible cause of this controversy could lie in the lack of a “standard” implementation of this technique, and simulations represent an important instrument to explore how implementation differences affect the analysis. The aim of this study was to explore how different state space compositions affect kinematic orbital stability analysis of a stable walking model and the influence of simulated experimental noise on the results.
2012
Federico Riva; Rita Stagni
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/123057
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