Quantifying dynamic characteristics of human walking for comprehensive gait cycle.

Normal human walking typically consists of phases during which the body is statically unbalanced while maintaining dynamic stability. Quantifying the dynamic characteristics of human walking can provide better understanding of gait principles. We introduce a novel quantitative index, the dynamic gait measure (DGM), for comprehensive gait cycle. The DGM quantifies the effects of inertia and the static balance instability in terms of zero-moment point and ground projection of center of mass and incorporates the time-varying foot support region (FSR) and the threshold between static and dynamic walking. Also, a framework of determining the DGM from experimental data is introduced, in which the gait cycle segmentation is further refined. A multisegmental foot model is integrated into a biped system to reconstruct the walking motion from experiments, which demonstrates the time-varying FSR for different subphases. The proof-of-concept results of the DGM from a gait experiment are demonstrated. The DGM results are analyzed along with other established features and indices of normal human walking. The DGM provides a measure of static balance instability of biped walking during each (sub)phase as well as the entire gait cycle. The DGM of normal human walking has the potential to provide some scientific insights in understanding biped walking principles, which can also be useful for their engineering and clinical applications.

Computational evaluation of load carriage effects on gait balance stability.

Evaluating the effects of load carriage on gait balance stability is important in various applications. However, their quantification has not been rigorously addressed in the current literature, partially due to the lack of relevant computational indices. The novel Dynamic Gait Measure (DGM) characterizes gait balance stability by quantifying the relative effects of inertia in terms of zero-moment point, ground projection of center of mass, and time-varying foot support region. In this study, the DGM is formulated in terms of the gait parameters that explicitly reflect the gait strategy of a given walking pattern and is used for computational evaluation of the distinct balance stability of loaded walking. The observed gait adaptations caused by load carriage (decreased single support duration, inertia effects, and step length) result in decreased DGM values (p < 0.0001), which indicate that loaded walking motions are more statically stable compared with the unloaded normal walking. Comparison of the DGM with other common gait stability indices (the maximum Floquet multiplier and the margin of stability) validates the unique characterization capability of the DGM, which is consistently informative of the presence of the added load.

Equilibrium states and stability of pre-tensioned adhesive tapes.

In the present paper we propose a generalization of the model developed in Afferrante, L.; Carbone, G.; Demelio, G.; Pugno, N. Tribol. Lett. 2013, 52, 439-447 to take into account the effect of the pre-tension in the tape. A detailed analysis of the peeling process shows the existence of two possible detachment regimes: one being stable and the other being unstable, depending on the initial configuration of the tape. In the stability region, as the peeling process advances, the peeling angle reaches a limiting value, which only depends on the geometry, on the elastic modulus of the tape and on the surface energy of adhesion. Vice versa, in the unstable region, depending on the initial conditions of the system, the tape can evolve towards a state of complete detachment or fail before reaching a state of equilibrium with complete adhesion. We find that the presence of pre-tension in the tape does not modify the stability behavior of the system, but significantly affects the pull-off force which can be sustained by the tape before complete detachment. Moreover, above a critical value of the pre-tension, which depends on the surface energy of adhesion, the tape will tend to spontaneously detach from the substrate. In this case, an external force is necessary to avoid spontaneous detachment and make the tape adhering to the substrate.