A perturbation mechanism for investigations of phase variables in human locomotion

摘要

The concept of a phase variable, a mechanical measurement of the body's progression through the gait cycle, has been used to parameterize the leg joint patterns of autonomous bipedal robots, producing human-like gaits with robustness to external perturbations. It was recently proposed that the kinematic response of humans to a perturbation could also be parameterized by a phase variable. In order to properly study this phase variable hypothesis with human subjects, a custom perturbation mechanism was built to cause phase shifts in the gait cycle. The main goals of this study are to introduce the design of a novel perturbation mechanism and experimentally demonstrate its ability to effect phase changes during the gait cycle.