Mechanical model of the recovery from stumbling

Abstract. Several strategies have been described as a reaction to a stumble during gait. The elevating strategy, which tries to proceed with the perturbed step, was executed as a response to a perturbation during early swing. The lowering strategy, bringing the perturbed leg to the ground and overtaking the obstacle with the contralateral limb, was executed more frequently when the perturbation appeared at mid or late swing. The goal of this paper is to analyze which mechanical factors determine the most advantageous strategy. In order to determine these factors, a mechanical model of the recovery was developed and used to analyze a series of perturbation experiments. It was assumed that the goal of the recovery reaction was to control the trunk as an inverted pendulum during the double-stance phase. In order to be able to control the trunk angle, one foot should be up front and one foot should be behind the hips; otherwise it would be impossible to generate the required trunk torques....

• Type: Journal
• Year: 2004
• Where: BC
• Authors: A. Forner-Cordero, H. F. J. M. Koopman, Frans C. T. van der Helm
• Keywords: BC 2004, Perturbed Step, Step, Strategy