Sharif Digital Repository

One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human gait was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. The foot-ground contact was simulated using a five-point penetration contact model. The elastic impact and friction effects are considered in the ground reaction force modeling. Optimization of the normal human walking model provided constant coefficients for simple PD controllers’ (driving torque) equations that could reasonably reproduce the normal kinematical pattern. Then, in the second... 

To date various commercial systems were used in the gait analysis area. These systems have some difficulties for clinical use, such as being indwell, making trouble in movement and high prices. The Kinect sensor does not have problems of these systems. If the error of sensor is acceptable, Kinect sensor is a suitable choice for application in clinics. The possibility of utilization of the Kinect sensor as a gait analysis system has been studied in this research. The sensor errors in calculation of gait parameters such as lower limb joints angle, stride time, stride length and spatial coordinates of joints were computed. In previous researches the Kinect sensor error has been calculated for... 

To date various commercial systems were used in the gait analysis area. These systems have some difficulties for clinical use, such as being indwell, making trouble in movement and high prices. The Kinect sensor does not have problems of these systems. If the error of sensor is acceptable, Kinect sensor is a suitable choice for application in clinics. The possibility of utilization of the Kinect sensor as a gait analysis system has been studied in this research. The sensor errors in calculation of gait parameters for lower limb joints angle were computed. In previous researches the Kinect sensor error has been calculated for upper limb joints angle and the subject was standing motionless in... 

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. This applications are in rehabilation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical cameras are the most accurate ones. But this cameras are high cost and limited to labs. Some sensors like IMUs and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them to looking for improvments. Fusion algorithms are one of the best methods that help to use from each... 

Cerebral palsy (CP) is one of the most common motor disability among children that caused by damage to brain or defective development of brain before, during or just after birth. Due to this damage, children with CP have cognitive and motor problems. As an important activity of daily living, walking enhances independence, social activities and quality of life. Much of therapy for children is aimed to improve their gait. A usual technique to evaluate how a person walk and detect abnormal features in walking pattern is gait analysis. Lots of studies have been done on gait kinematics of CPs and classified them based on their kinematis. The purpose of this thesis is studying muscles activity of... 

In cases with excessive anteversion even after adolescence, surgeons have to choose osteotomy surgery to modify this abnormality. This surgery and modifying the anatomical problem does not necessarily lead to modify the patients’ gait cycle abnormalities; the authors’ hypothesis is the probable reason may be the persistence of the implement of the patients’ kinematics compensation mechanism even after the surgery. This mechanism is used to almost correct the gait of those with excessive anteversion. First, by using gait analysis text books, a patient’s gait cycle is analyzed; this analysis is consist of 3DGA with EMG and observational gait. Then, by using OpenSim, the patient’s patterns of... 

Cerebral palsy is a disorder and a condition that occurs before, during or after birth. According to reports, in developing countries, out of every 1,000 births, 3.5 cases develop cerebral palsy. One of the consequences of cerebral palsy is unusual walking due to nerve disorders, including severe spasm of the lower muscles of the trunk. Drugs, therapies, and orthopedic surgeries are used to help patients with cerebral palsy. Improper orthopedic surgeries have severe effects on the patient's function. You can partially solve these problems by using the gateway category. The common patterns of cerebral palsy gait help decide the treatment method. In recent years, the use of gait analysis has... 

In this project, we use an off-line motion capture technique for walking pattern recognition and reconstruction, and apply a sensory data acquisition system for extracting knee and ankle joints angular movements. Our approach is a marker-based object tracking technique using only one camera and four markers as data acquisition system, and a neural network method is developed for marker detection. Different walking condition considered including: straight position, inclined position with 〖+5〗^° slope, and 〖-10〗^° slope. Using pattern obtained from above process, the BVH format of the motion is built for 3D reconstruction of the performer’s motion. Since the obtain data describe the motion of...