平成14年度
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- かずし おいもり
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1 14 Estimation of Ground Reaction Force and Joint Moment by Plantar Pressure Measurement Device
2 a) b) (a) (b)
3 (a) (b) (a) (b) (a) (b) (a) 41
4 5.6.2(b) (a) (b) (a) (b) (a) (b) (a) (b) (a) (b) (a) (b)
5 50 51
6 / ,5 6 1
7 ) 2) 3) 8 1) 2) 3) 1) 2) 3) a) 2
8 1.4.b)
9
10 Fig.2.1 Fig
11 Plantar pressu re Installed type Equipped type Plantar pressure distribution Reaction force Plantar pressure distribution Reaction force Scanned type Mapped type Distortion gauge type Crystal piezo-electricity type Ink coloring type Scanned type Distributed type Vertical component All reaction force measurement Vertical & share component Partial reaction force measurement Fig. 2.1Plantar pressure measurement equipment classification 6
12 m / ,15,16,17, [mm](cf. Table 2.1) 2 2 5mm Fig. 2.2Gait Scan Fig. 2.2(a)Sensor (for Gait Scan) 7
13 Table 2.1Specification of Gait Scan system GaitRiteCIR Systems, Inc. 4572mm 902mm 6.4mm ,21 Fig. 2.3GaitRite 8
14 ,23,24,25,26,27, Arcan Force Plate, Force Platform Force Plate, Force Platform cm 2m Hz 400Hz Hz 9
15 cm 2 Fig. 2.4Force plate (Distortion gage type) Fig. 2.5Force plate (Piezo-electricity type) 10
16 Elfman Kistler 1 1 1g mm
17 A C A C RA 39,40,41 Force A film Microcapsule Color developer C film Fig. 2.6Prescal Table 2.2Specification of Prescal 12
18 mm 15% 42 1 F-Scan 10msec 43,44,45 Fig. 2.7F-SCAN system
19 Hz 15.5cm32cm 5mm medilogic FPMS medilogic FPMS 64 COP 3 GANGAS GANGAS 16 FSR medilogic FPMS 14
20 Fig.2.8Parotec-System Table 2.1Specification of Sensor distribution type 15
21 (a),, (b) /
22 2.3 17
23 ) 2) 3.2 Table Z 1) 1/51/12 2) 6 12 Table 3.1Spec of Plantar 3) Z Pressure measurement device 4) 5) ) The inside of ( ) is an in sole part. 18
24 Fig. 3.1.a)Plantar Pressure Measurement Device Fig. 3.1.b)Plantar Pressure Measurement Device 19
25 3.3 (Heel) Chopart s joint 1 (Metatarsals ) 4 (Metatarsals ) (Thumb) 3 (Toe)6 Fig.3.2 [J] b) d)
26 Chopart's joint Metatarsals Toe Heel Metatarsals Fig. 3.2Distribution of sensors Thumb 3.4 PS-10KAM183 Pla-Plate 1.0mm cm 21
27 Fig. 3.3Plantar pressure sensor 22
28
29 4.2 (Fig 4.1) (Y ) ( X ) ( A ) i i 6 Y = A i X i= 1 i (4.1) A i (4.1) ( ) A1X1 A2X2 A4X4 A3X3 A6X6 A5X5 Fig.4.1Image of active area 24
30 4.3 ) A i EFP-S-2KNSA12 1 Fig. 4.2 ( ) [N] Y 6 [kgf/cm2] X, L L, X 1 6 (Fig. 4.1) SPSS Ver A i [cm] [kg]
31 Plantar Pressure Measurement Device Force plate Fig.4.2Example of experiment scenery 4.4 Table [A]-[J] [cm] [kg] Table 4.1Parameter of subjects An able leg 26
32 4.4.1(a) Table [A-J] ( ) R R R 01 A i Table R Fig [A-J] Fig [A-J] Table 4.3 [A-J] Table 4.3Plantar area rate of each subjects 27
33 4.4.1(b) Table cm 3.5cm [J] 6 Table l Table [BDFGIJ] 5 2 Table Fig MP Marquardt 20% 1 17% 5 13%
34 61 Fig MP 4.4.2(a) Fig.4.4.1(a)4.4.10(f) R [msec] [N] Fig.4.4.1(a)4.4.1(f) [A] 6 Table 4.2.1No. 1 5 Table 4.2.1No. 2 4 Table 4.2.1No. 4 3 Table 4.2.1No Table 4.2.1No. 31 Fig.4.4.2(a)4.4.2(f) [B] 6 Table 4.2.2No. 1 5 Table 4.2.2No. 2 4 Table 4.2.2No. 4 3 Table 4.2.2No. 9 2 Table 4.2.2No. 23 Fig.4.4.3(a)4.4.3(f) [C] 6 Table 4.2.3No. 1 5 Table 4.2.3No. 2 4 Table 4.2.3No. 5 3 Table 4.2.3No Table 4.2.3No. 19 Fig.4.4.4(a)4.4.4(f) [D] 6 Table 4.2.4No. 1 5 Table 4.2.4No. 2 4 Table 4.2.4No. 5 3 Table 4.2.4No Table 4.2.4No. 20 Fig.4.4.5(a)4.4.5(f) [E] 29
35 6 Table 4.2.5No. 1 5 Table 4.2.5No. 2 4 Table 4.2.5No. 4 3 Table 4.2.5No. 8 2 Table 4.2.5No. 22 Fig.4.4.6(a)4.4.6(f) [F] 6 Table 4.2.6No. 1 5 Table 4.2.6No. 2 4 Table 4.2.6No. 4 3 Table 4.2.6No Table 4.2.6No. 22 Fig.4.4.7(a)4.4.7(f) [G] 6 Table 4.2.7No. 1 5 Table 4.2.7No. 2 4 Table 4.2.7No. 4 3 Table 4.2.7No Table 4.2.7No. 23 Fig.4.4.8(a)4.4.8(f) [H] 6 Table 4.2.8No. 1 5 Table 4.2.8No. 2 4 Table 4.2.8No. 5 3 Table 4.2.8No Table 4.2.8No. 28 Fig.4.4.9(a)4.4.9(f) [I] 6 Table 4.2.9No. 1 5 Table 4.2.9No. 2 4 Table 4.2.9No. 4 3 Table 4.2.9No. 8 2 Table 4.2.9No. 22 Fig (a)4.4.10(f) [J] 6 Table No. 1 5 Table No. 2 4 Table No. 4 3 Table No Table No (b) Fig.4.4.1(a)4.4.10(f) 4 [J] 4 30
36 cm 24.0cm 31
37 cm
38 Fig
39 3 Reaction force Joint position Angle Angle acceleration Acceleration Joint moment Fig. 5.1Joint moment calculation process Body parameter (1997)17 34
40 Fig.5.2 N x N y ( xn, y N x, y ( Am Am (, y A A) ) ) x ϑ m M A ( y y ) N A θ ( y y ) Am A ( x A, ya ) ( A m x & x ( x, y Am Am ) m y & y g ( x x A) N ( x x ) A Am I A ( x, y N N Fig. 5.2Force balance in the foot at stance phase N y ) N x 35
41 M A M A = I & &θ + m && x x( y A y Am ) + m y (& y + g)( x Am x A ) N y y ) N ( x x ) (4.1) x ( A N y N A N ϑ I & θ 4 N ( y ) x x A y N 2 m & x x ( y A y Am ) 3 m (& y y + g)( x Am x A ) 5 N ( x x A ) y N M A N ( x x A ) (4.2) y N x 6 N y 6 Fig
42 A X 1 1 A i X i x, y ),( x i, y ) ( 1 1 i ( x, y A A) M A x 1, y ) ( 1 A X 1 1 ( x 1 x A ) ( x, y A A ) A X i i ( x x ) A Fig. 5.3Force balance in the foot at stance phase i ( i x i, y ) A Fig. 5.3 ( A i X i ) ( ) N y M A 37
43 ) ( 6 1 A i i i i A x x A X M = 4.3 ( ),( ), 1 A i A x x x x L L 5.5 M A 3 7m 1 60mm90mm 3 Fig Quick MAG EFP-S-2KNSA12 1 ( ) (4.3) A i 38
44 23 180[cm] 70[kg] 1 3-dimensional operation analysis system (Quick MAG ) Force plate Fig.5.4Example of experiment scenery 39
45 5.6 [msec] 1/10 [1/10 N] [Nm] Quick MAG Fig (a)-5.5.3(e) 3 Quick MAG Fig (a) 5.5.2(a) 5.5.3(a) 6 Table No.1 5 Table No.2 4 Table No.4 3 Table No.14 2 Table No Quick MAG 3 Quick MAG Quick MAG [msec] 40
46 1 1200[msec] Quick MAG Quick MAG cm Quick MAG Fig (a)-5.5.6(e) 3 Quick MAG Fig (a) 5.5.5(a)5.5.6(a) 6 Table No.1 5Table
47 No.2 4 Table No.4 3 Table No.14 2 Table No.23 Fig.5.5.4(a)5.5.4(c) Quick MAG mm Fig.5.5.4(a)-5.5.4(c) Fig (a)-5.5.7(e) 3 Quick MAG Fig (a) 42
48 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No Quick MAG Fig (a)-5.5.8(e) 3 Quick MAG Fig (a) 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No Quick MAG 3 43
49 5.6.5 Fig (a)-5.5.9(e) 3 Quick MAG Fig (a) 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No Quick MAG Fig (a) (e) 3 Quick MAG Fig (a) 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No
50 5.6.7 Fig (a) (e) 3 Quick MAG Fig (a) 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No Quick MAG Fig (a) (e) 3 Quick MAG Fig (a) 6 Table No.1 5Table No.2 4 Table No.4 3 Table No.14 2 Table No.23 Quick MAG 45
51 3 Table 5.1 Table 5.1 Distance accuracy of 3-dimensional measurement system 1997 p
52
53 ) 1/10 2) 48
54 49
55 3 Quick MAG 50
56 1 (1997)167 2 (1998)51 3 (1998) (2001) MOOK6 (2000) MOOK6 (2000)19 9 (1997)3 10 (2002) (1998)51 12 (2002) (2002) D- Vol.J84-D-No.2 (2001) MBE (1997) MBE97-89 (1997) PRU94-61 (1994) (1996)278 19http:// 20http:// 21 (GAITRite) FAP(Functional Ambulation 51
57 Profile) 25 (1998) C (1986) A (1986) A (1987) A (1990) A (1986) C. I. Franks R. P. Betts T. DuckworthMicroprocessor-based image processing system for dynamic foot pressure studiesmedical & Biological Engineering & Computing21 (1983) K. M. PatilM. S. SrinathNew image-processing system for analysis, display and measurement of static and dynamic foot pressuremedical & Biological Engineering & Computing28 (1990) (2002) (1989)78 31 (1989)79 32 (2002) A (1986) (1977) (2002) (1979) RA 52
58 29 (1986) (1982) (1998)52 41http:// 42 (2002) http:// 44 (F-SCAN) (1997) (F-SCAN) 25 (1998) (1985) http:// 48http:// 49http:// (1977) (1979) S. MiyazakiA. IshidaCapacitive transducer for continuous measurement of vertical foot forcemedical & Biological Engineering & Computing22 (1984) (1982) (1998) )96 58 Takayuki Turu, Koreaki Yamakuma, Yasuhiro OnikiDynamic Pressure Distribution beneath the Foot during Walking 39(2) (1990)
59 12 (1985) (1994) (1973) 62 MOOK6 (2000)33 63 (2002) MOOK6 (2000)33 65 MOOK6 (2000)31 66 MOOK6 (2000)34 67 (2002) (1995) (7)
60 Table Experiment result of Subject A 1 Table Experiment result of Subject B 2 Table Experiment result of Subject C 3 Table Experiment result of Subject D 4 Table Experiment result of Subject E 5 Table Experiment result of Subject F 6 Table Experiment result of Subject G 7 Table Experiment result of Subject H 8 Table Experiment result of Subject I 9 Table Experiment result of Subject J 10 Table Experiment result of all Subject average 11 Fig The area ratio of each portion of Subject A s plantar 12 Fig The area ratio of each portion of Subject B s plantar 12 Fig The area ratio of each portion of Subject C s plantar 12 Fig The area ratio of each portion of Subject D s plantar 13 Fig The area ratio of each portion of Subject E s plantar 13 Fig The area ratio of each portion of Subject F s plantar 13 Fig The area ratio of each portion of Subject G s plantar 14 Fig The area ratio of each portion of Subject H s plantar 14 Fig The area ratio of each portion of Subject I s plantar 14 Fig The area ratio of each portion of Subject J s plantar 15 Fig The average of the area ratio of each portion of all subjects plantar15 Fig (a) Ground reaction force of Subject A (6 sensors) 16 Fig (b) Ground reaction force of Subject A (5 sensors) 16 Fig (c) Ground reaction force of Subject A (4 sensors) 16 Fig (d) Ground reaction force of Subject A (3 sensors) 17 Fig (e) Ground reaction force of Subject A (2 sensors) 17
61 Fig (a) Ground reaction force of Subject B (6 sensors) 18 Fig (b) Ground reaction force of Subject B (5 sensors) 18 Fig (c) Ground reaction force of Subject B (4 sensors) 18 Fig (d) Ground reaction force of Subject B (3 sensors) 19 Fig (e) Ground reaction force of Subject B (2 sensors) 19 Fig (a) Ground reaction force of Subject C (6 sensors) 20 Fig (b) Ground reaction force of Subject C (5 sensors) 20 Fig (c) Ground reaction force of Subject C (4 sensors) 20 Fig (d) Ground reaction force of Subject C (3 sensors) 21 Fig (e) Ground reaction force of Subject C (2 sensors) 21 Fig (a) Ground reaction force of Subject D (6 sensors) 22 Fig (b) Ground reaction force of Subject D (5 sensors) 22 Fig (c) Ground reaction force of Subject D (4 sensors) 22 Fig (d) Ground reaction force of Subject D (3 sensors) 23 Fig (e) Ground reaction force of Subject D (2 sensors) 23 Fig (a) Ground reaction force of Subject E (6 sensors) 24 Fig (b) Ground reaction force of Subject E (5 sensors) 24 Fig (c) Ground reaction force of Subject E (4 sensors) 24 Fig (d) Ground reaction force of Subject E (3 sensors) 25 Fig (e) Ground reaction force of Subject E (2 sensors) 25 Fig (a) Ground reaction force of Subject F (6 sensors) 26 Fig (b) Ground reaction force of Subject F (5 sensors) 26 Fig (c) Ground reaction force of Subject F (4 sensors) 26 Fig (d) Ground reaction force of Subject F (3 sensors) 27 Fig (e) Ground reaction force of Subject F (2 sensors) 27 Fig (a) Ground reaction force of Subject G (6 sensors) 28 Fig (b) Ground reaction force of Subject G (5 sensors) 28 Fig (c) Ground reaction force of Subject G (4 sensors) 28 Fig (d) Ground reaction force of Subject G (3 sensors) 29 Fig (e) Ground reaction force of Subject G (2 sensors) 29
62 Fig (a) Ground reaction force of Subject H (6 sensors) 30 Fig (b) Ground reaction force of Subject H (5 sensors) 30 Fig (c) Ground reaction force of Subject H (4 sensors) 30 Fig (d) Ground reaction force of Subject H (3 sensors) 31 Fig (e) Ground reaction force of Subject H (2 sensors) 31 Fig (a) Ground reaction force of Subject I (6 sensors) 32 Fig (b) Ground reaction force of Subject I (5 sensors) 32 Fig (c) Ground reaction force of Subject I (4 sensors) 32 Fig (d) Ground reaction force of Subject I (3 sensors) 33 Fig (e) Ground reaction force of Subject I (2 sensors) 33 Fig (a) Ground reaction force of Subject J (6 sensors) 34 Fig (b) Ground reaction force of Subject J (5 sensors) 34 Fig (c) Ground reaction force of Subject J (4 sensors) 34 Fig (d) Ground reaction force of Subject J (3 sensors)35 Fig (e) Ground reaction force of Subject J (2 sensors) 35 Fig (a)normal gait (6 sensors) 36 Fig (b)normal gait (5 sensors) 36 Fig (c)normal gait (4 sensors) 36 Fig (d)normal gait (3 sensors) 37 Fig (e)normal gait (2 sensors) 37 Fig (a)normal gait (6 sensors) 38 Fig (b)normal gait (5 sensors) 38 Fig (c)normal gait (4 sensors) 38 Fig (d)normal gait (3 sensors) 39 Fig (e)normal gait (2 sensors) 39 Fig (a)normal gait (6 sensors) 40 Fig (b)normal gait (5 sensors) 40 Fig (c)normal gait (4 sensors) 40 Fig (d)normal gait (3 sensors) 41 Fig (e)normal gait (2 sensors) 41
63 Fig (a)regulation gait A (6 sensors) 42 Fig (b)regulation gait A (5 sensors) 42 Fig (c)regulation gait A (4 sensors) 42 Fig (d)regulation gait A (3 sensors) 43 Fig (e)regulation gait A (2 sensors) 43 Fig (a)regulation gait A (6 sensors) 44 Fig (b)regulation gait A (5 sensors) 44 Fig (c)regulation gait A (4 sensors) 44 Fig (d)regulation gait A (3 sensors) 45 Fig (e)regulation gait A (2 sensors) 45 Fig (a)regulation gait A (6 sensors) 46 Fig (b)regulation gait A (5 sensors) 46 Fig (c)regulation gait A (4 sensors) 46 Fig (d)regulation gait A (3 sensors) 47 Fig (e)regulation gait A (2 sensors) 47 Fig (a)regulation gait B (6 sensors) Fig (b)regulation gait B (5 sensors) Fig (c)regulation gait B (4 sensors) 48 Fig (d)regulation gait B (3 sensors) Fig (e)regulation gait B (2 sensors) Fig (a)regulation gait C (6 sensors) Fig (b)regulation gait C (5 sensors) Fig (c)regulation gait C (4 sensors) 50 Fig (d)regulation gait C (3 sensors) Fig (e)regulation gait C (2 sensors) Fig (a)backward gait (6 sensors) 52 Fig (a)backward gait (5 sensors) 52 Fig (a)backward gait (4 sensors) 52 Fig (a)backward gait (3 sensors) 53 Fig (a)backward gait (2 sensors) 53
64 Fig (a)Regulation gait D (6 sensors) 54 Fig (b)Regulation gait D (5 sensors) 54 Fig (c)Regulation gait D (4 sensors) Fig (d)Regulation gait D (3 sensors) 55 Fig (e)Regulation gait D (2 sensors) 55 Fig (a)Stairs going up (6 sensors) 56 Fig (b)Stairs going up (5 sensors) 56 Fig (c)Stairs going up (4 sensors) 56 Fig (d)Stairs going up (3 sensors) 57 Fig (e)Stairs going up (2 sensors) 57 Fig (a)Stairs going up (6 sensors) 58 Fig (b)Stairs going up (5 sensors) 58 Fig (c)Stairs going up (4 sensors) 58 Fig (d)Stairs going up (3 sensors) 59 Fig (e)Stairs going up (2 sensors) 59
65 Table 4.2.1Experiment Result of subject A 1
66 Table 4.2.2Experiment Result of subject B 2
67 Table 4.2.3Experiment Result of subject C 3
68 Table 4.2.4Experiment Result of subject D 4
69 Table 4.2.5Experiment Result of subject E 5
70 Table 4.2.6Experiment Result of subject F 6
71 Table 4.2.7Experiment Result of subject G 7
72 Table 4.2.8Experiment Result of subject H 8
73 Table 4.2.9Experiment Result of subject I 9
74 Table Experiment Result of subject 10
75 Table Experiments result of all subjects average 11
76 Fig The area ratio of each portion of Subject A s plantar Fig The area ratio of each portion of Subject B s plantar Fig The area ratio of each portion of Subject C s plantar 12
77 Fig The area ratio of each portion of Subject D s plantar Fig The area ratio of each portion of Subject E s plantar Fig The area ratio of each portion of Subject F s plantar 13
78 Fig The area ratio of each portion of Subject G s plantar Fig The area ratio of each portion of Subject H s plantar Fig The area ratio of each portion of Subject I s plantar 14
79 Fig The area ratio of each portion of Subject J s plantar Fig The average of the area ratio of each portion of all subjects plantar 15
80 Fig (a)Ground reaction force of Subject A(6 Sensors) Fig (b)Ground reaction force of Subject A(5 Sensors) Fig (c)Ground reaction force of Subject A(4 Sensors) 16
81 Fig (d)Ground reaction force of Subject A(3 Sensors) Fig (e)Ground reaction force of Subject A(2 Sensors) 17
82 Fig (a)Ground reaction force of Subject B(6 Sensors) Fig (b)Ground reaction force of Subject B(5 Sensors) Fig (c)Ground reaction force of Subject B(4 Sensors) 18
83 Fig (d)Ground reaction force of Subject B(3 Sensors) Fig (e)Ground reaction force of Subject B(2 Sensors) 19
84 Fig (a)Ground reaction force of Subject C(6 Sensors) Fig (b)Ground reaction force of Subject C(5 Sensors) Fig (c)Ground reaction force of Subject C(4 Sensors) 20
85 Fig (d)Ground reaction force of Subject C(3 Sensors) Fig (e)Ground reaction force of Subject C(2 Sensors) 21
86 Fig (a)Ground reaction force of Subject D(6 Sensors) Fig (b)Ground reaction force of Subject D(5 Sensors) Fig (c)Ground reaction force of Subject D(4 Sensors) 22
87 Fig (d)Ground reaction force of Subject D(3 Sensors) Fig (e)Ground reaction force of Subject D(2 Sensors) 23
88 Fig (a)Ground reaction force of Subject E(6 Sensors) Fig (b)Ground reaction force of Subject E(5 Sensors) Fig (c)Ground reaction force of Subject E(4 Sensors) 24
89 Fig (d)Ground reaction force of Subject E(3 Sensors) Fig (e)Ground reaction force of Subject E(2 Sensors) 25
90 Fig (a)Ground reaction force of Subject F(6 Sensors) Fig (b)Ground reaction force of Subject F(5 Sensors) Fig (c)Ground reaction force of Subject F(4 Sensors) 26
91 Fig (d)Ground reaction force of Subject F(3 Sensors) Fig (e)Ground reaction force of Subject F(2 Sensors) 27
92 Fig (a)Ground reaction force of Subject G(6 Sensors) Fig (b)Ground reaction force of Subject G(5 Sensors) Fig (c)Ground reaction force of Subject G(4 Sensors) 28
93 Fig (d)Ground reaction force of Subject G(3 Sensors) Fig (e)Ground reaction force of Subject G(2 Sensors) 29
94 Fig (a)Ground reaction force of Subject H(6 Sensors) Fig (b)Ground reaction force of Subject H(5 Sensors) Fig (c)Ground reaction force of Subject H(4 Sensors) 30
95 Fig (d)Ground reaction force of Subject H(3 Sensors) Fig (e)Ground reaction force of Subject H(2 Sensors) 31
96 Fig (a)Ground reaction force of Subject I(6 Sensors) Fig (b)Ground reaction force of Subject I(5 Sensors) Fig (c)Ground reaction force of Subject I(4 Sensors) 32
97 Fig (d)Ground reaction force of Subject I(3 Sensors) Fig (e)Ground reaction force of Subject I(2 Sensors) 33
98 Fig (a)Ground reaction force of Subject J(6 Sensors) Fig (b)Ground reaction force of Subject J(5 Sensors) Fig (c)Ground reaction force of Subject J(4 Sensors) 34
99 Fig (d)Ground reaction force of Subject J(3 Sensors) Fig (e)Ground reaction force of Subject J(2 Sensors) 35
100 Fig (a)Normal gait 6 Sensors Fig (b)Normal gait 5 Sensors Fig (c)Normal gait 4 Sensors 36
101 Fig (d)Normal gait 3 Sensors Fig (e)Normal gait 2 Sensors 37
102 Fig (a)Normal gait 6 Sensors Fig (b)Normal gait 5 Sensors Fig (c)Normal gait 3 Sensors 38
103 Fig (d)Normal gait 3 Sensors Fig (e)Normal gait 2 Sensors 39
104 Fig (a)Normal gait 6 Sensors Fig (b)Normal gait 5 Sensors Fig (c)Normal gait 4 Sensors 40
105 Fig (d)Normal gait 3 Sensors Fig (e)Normal gait 2 Sensors 41
106 Fig (a)Regulation gait A6 Sensors Fig (b)Regulation gait A5 Sensors Fig (c)Regulation gait A4 Sensors 42
107 Fig (d)Regulation gait A3 Sensors Fig (e)Regulation gait A2 Sensors 43
108 Fig (a)Regulation gait A6 Sensors Fig (b)Regulation gait A5 Sensors Fig (c)Regulation gait A4 Sensors 44
109 Fig (d)Regulation gait A3 Sensors Fig (e)Regulation gait A2 Sensors 45
110 Fig (a)Regulation gait A6 Sensors Fig (b)Regulation gait A5 Sensors Fig (c)Regulation gait A4 Sensors 46
111 Fig (d)Regulation gait A3 Sensors Fig (e)Regulation gait A2 Sensors 47
112 Fig (a)Regulation gait B6 Sensors Fig (b)Regulation gait B5 Sensors Fig (c)Regulation gait B4 Sensors 48
113 Fig (d)Regulation gait B3 Sensors Fig (e)Regulation gait B2 Sensors 49
114 Fig (a)Regulation gait C6 Sensors Fig (b)Regulation gait C5 Sensors Fig (c)Regulation gait C4 Sensors 50
115 Fig (d)Regulation gait C3 Sensors Fig (e)Regulation gait C2 Sensors 51
116 Fig (a)Backward gait6 Sensors Fig (b)Backward gait5 Sensors Fig (c)Backward gait4 Sensors 52
117 Fig (d)Backward gait3 Sensors Fig (e)Backward gait2 Sensors 53
118 Fig (a)Regulation gait D6 Sensors Fig (b)Regulation gait D5 Sensors Fig (c)Regulation gait D4 Sensors 54
119 Fig (d)Regulation gait D3 Sensors Fig (e)Regulation gait D2 Sensors 55
120 Fig (a)Stairs going up6 Sensors Fig (b)Stairs going up5 Sensors Fig (c)Stairs going up4 Sensors 56
121 Fig (d)Stairs going up3 Sensors Fig (e)Stairs going up2 Sensors 57
122 Fig (a)Stairs going down6 Sensors Fig (b)Stairs going down5 Sensors Fig (c)Stairs going down4 Sensors 58
123 Fig (d)Stairs going down3 Sensors Fig (e)Stairs going down2 Sensors 59
124
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