| Description |
This thesis analyzed biped stability through a qualitative likelihood of falling and quantitative Potential to Fall (PF) analysis. Both analyses were applied to walking and skiing to better understand behaviors across a wider spectrum of bipedal gaits. For both walking and skiing, two types of locomotion were analyzed. Walking studies compared normal locomotion (gait) to an unexpected slip. Skiing studies compared wedge style locomotion (more common to beginning and intermediate skiers) to parallel style locomotion (more common to advanced and expert skiers). Two mediums of data collection were used. A motion capture laboratory with stereographic cameras and force plates were used for walking studies, and instrumented insoles, capable of force and inertial measurement, were used for skiing studies. Both kinematics and kinetics were used to evaluate the likelihood of falling. The PF metric, based on root mean squared error, was used to quantify the likelihood of falling for multiple subjects both in walking and skiing. PF was based on foot kinematics for walking and skiing studies. PF also included center of pressure for skiing studies. The PF was lower for normal gaits in walking studies and wedge style locomotion for skiing studies. |
