Development of Computational Model for Gait Based Activities Pattern Analysis and Push Recovery Stability of Bipedal Locomotion

Abstract

This thesis first investigated the human gait pattern, gait cycle, joint angles of newlinethe pelvis, knee, and ankles, and gait stability using both wearable and vision-based newlinesensors to determine the most stable gait.Every sub-phase of the human gait cycle newlinewas modelled using a universal polynomial equation, which we developed. In the newlinesecond phase, we done the analysis of human activities based on gait pattern. We newlineexplored the algorithms for IMU and Kinect based HAR are presented and assessed newlinein terms of daily and sport-specific activities.Walking,Jogging, and climbing stairs up and down,push-ups, sit-ups are only a few examples of daily tasks drawn from the newline Compendium of Physical Activities . Beyond the development and implementation newlineof algorithms, the authors identify major additions to the design of HAR systems and newlinepotential research avenues in the future. We provided post stroke Rehabilitation for newlineregaining the functions of Upper limbs and lower limbs. As different gait velocity newlinepattern is important health parameter,thus we analysed the the human gait in 04 newlinedifferent velocities and came out with significant conclusions. In the last section, we went through push recovery control/balance control, which is a significant research newlineproblem of robotics engineering and comes with some impressive solutions. newline