Staff View
Modeling, sensing, and control of human bipedal walking with foot slip

Descriptive

TitleInfo
Title
Modeling, sensing, and control of human bipedal walking with foot slip
Name (type = personal)
NamePart (type = family)
Trkov
NamePart (type = given)
Mitja
NamePart (type = date)
1982-
DisplayForm
Mitja Trkov
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Yi
NamePart (type = given)
Jingang
DisplayForm
Jingang Yi
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Benaroya
NamePart (type = given)
Haym
DisplayForm
Haym Benaroya
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Zou
NamePart (type = given)
Qingze
DisplayForm
Qingze Zou
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Kuo
NamePart (type = given)
Arthur D.
DisplayForm
Arthur D. Kuo
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
outside member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School - New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2016
DateOther (qualifier = exact); (type = degree)
2016-05
CopyrightDate (encoding = w3cdtf); (qualifier = exact)
2016
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
Human walking is a fundamental motor skill that is developed at an early stage in our lives. Maintaining stable walking capability demands a substantial effort and requires synchronization and coordination of many neurological, sensorimotor and musculoskeletal systems. Moreover, disturbances such as foot slip require even more demanding walking control strategies for successful balance recovery and fall prevention. However, it is challenging to capture and model human motion and reaction to foot slip. Most of the existing slip-and-fall studies focus on clinical human experiments and few use control systems approaches to analyze the slip dynamics and human recovery mechanisms. Further challenges arise as few real-time sensing and robotic assistive technologies are currently available for reliably detecting foot slips and assisting human balance for slip-induced fall prevention. The goal of this dissertation is to advance the understanding and knowledge of slip dynamics with emphasis on four interlaced topics: (i) analyzing and modeling the shoe-floor interaction during foot slip, (ii) developing a novel bipedal modeling framework to capture human walking locomotion with foot slip, (iii) developing a novel linear inverted pendulum (LIP) modeling framework for balance recovery control, and (iv) developing new wearable sensing and robotic assistive devices for real-time detection of foot slip and effective prevention of slip-induced falls. In the first part, we present modeling of foot slip evolution and development based on a quasistatic friction force model. We present a model to obtain the normal force distribution on the shoe-floor contact patch. In addition, we extend the previously developed beam-spring network model and integrate it with the LuGre dynamic friction model. In the second part of the dissertation, we present a new bipedal modeling approach, where we relax the non-slip assumption used in the existing literature. We develop a hybrid bipedal model and the gait controllers to capture and predict human walking with foot slip. In the third part, we present a new two-mass LIP model for human balance control during walking and walking with foot slip. We extend the capture point based control approach and incorporate time-varying locations of the zero moment point and the LIP pivoting location. In the fourth part, we propose a novel real-time foot slip detection method using only wearable inertial measurement units. The developed slip-prediction algorithm is built on a dynamic model for bipedal walking and is also integrated with the human locomotion constraints. A slip indicator is introduced into the algorithm to detect the foot slip shortly after the heel-strike event. All of the above mentioned models, control strategies and devices are validated through the extensive experiments and simulations. In addition, we further design and fabricate a wearable robotic knee assistive device for slip balance recovery and slip-induced fall prevention. This device prototype serves as an enabling tool for future testing of possible robotic assistive fall prevention strategies.
Subject (authority = RUETD)
Topic
Mechanical and Aerospace Engineering
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_7197
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (xxvii, 148 p. : ill.)
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references
Subject (authority = ETD-LCSH)
Topic
Walking
Subject (authority = ETD-LCSH)
Topic
Bipedalism
Subject (authority = ETD-LCSH)
Topic
Human locomotion
Note (type = statement of responsibility)
by Mitja Trkov
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier (type = doi)
doi:10.7282/T3057J4W
Genre (authority = ExL-Esploro)
ETD doctoral
Back to the top

Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Trkov
GivenName
Mitja
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2016-04-13 12:22:44
AssociatedEntity
Name
Mitja Trkov
Role
Copyright holder
Affiliation
Rutgers University. Graduate School - New Brunswick
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
Back to the top

Technical

RULTechMD (ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem (VERSION = 5.1)
windows xp
CreatingApplication
Version
1.4
ApplicationName
MiKTeX GPL Ghostscript 9.05
DateCreated (point = start); (encoding = w3cdtf); (qualifier = exact)
2016-04-12T14:47:00
DateCreated (point = start); (encoding = w3cdtf); (qualifier = exact)
2016-04-12T14:47:00
Back to the top
Version 8.5.5
Rutgers University Libraries - Copyright ©2024