500 Ml Rondes Support Inferieur

Rather than consider a perfectly regular trackway, we examine a segment of an actual, hence slightly-irregular, trackway. An individual track (such as LP1 in Fig. 1) is represented by a mathematical point indicating its center, with an uncertainty associated with each coordinate. A trackway is represented by four ordered sequences of tracks (e.g., LP1, LP2, etc., for the left pes tracks in Fig. 1). The corresponding trackmaker is represented by the manus locators ML and MR and the pes locators PL and PR. Each locator is a mathematical point that represents the location of limb distal point of contact and which alternates between two states: support while that limb contributes to supporting the body, and transition as the limb takes the next step, according to a specified gait. When a locator is in support, its coordinates (and spatial uncertainty) correspond to that of the specific track it stands upon. When in transition, its coordinates are interpolated towards the next track, and assigned greater uncertainty during protraction. The trackmaker is simply a set of four independently moving locators, each given a specified sequence of tracks to step upon, and a prescribed timing and duration with which to do so.

500 Ml Rondes Support Inferieur

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The position of each locator can be sampled at two moments within the step cycle: when it just reaches its next track, and when it just lifts from that track. During its interval of support, that locator has the spatial certainty of the track on which it stands. When that locator is in transition towards its next track its location is interpolated between its previous and next track with an uncertainty corresponding to the stride length (it could be anywhere between those tracks). Each coupler therefore alternates between having low spatial uncertainty when both locators are in support, and higher uncertainty otherwise. Coupling length, being the instantaneous distance between the two couplers, thus has variable uncertainty within each step cycle along a given trackway.

An idealized trackway with two simulations wherein the left pes is about to finish the support phase. In the upper diagram the duty factor is only 0.5 and therefore the right manus MR is still in transition. In the lower diagram, the duty factor is 0.75 and now MR has just completed its step. Notice the difference in CL for the two cases

Table 3 shows the values of α-phase and the minimum duty factor DFMin required to achieve four-limb support, for each of the eight gaits considered. This generalization extends to diagonal sequence gaits G5-G7, wherein the three-limb support is provided by PL, PR, and MR and ML in transition (and the α-phase is then measured between ML and the pes PL).

Coupling length CL can now be measured as the distance between the pes and manus couplers for any walking gait. In each case, the two pes locators are in support and one or the other manus locator may require linear interpolation, by:

where \(\psi 1\) is the locator in support, \((x_\psi 1, y_\psi 1)\) is the position of that locator, and \(\psi 2\) refers to the other locator which is in transition, the position of which is being interpolated.

This formula reduces to the original GA formula when α is 0 or 1, i.e., when the duty factor is sufficiently long to permit all four limbs to be in simultaneous ground contact for that given gait. Coupling length is therefore a discretely sampled, periodic value within a trackway that can be measured twice per gait cycle (each time a pes support cycle ends).

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