This article deals with the mode analysis of the kinematic structure of human locomotion. We investigated human locomotion using singular value decomposition. From motioncaptured data of human locomotion, we extracted common basic movements and residual modes, and analyzed the kinematical structures. The results show the joint synergy that is derived by the residual modes (expresses strong dependencies on walking condition, and has bifurcation properties according to walking speed.
Volume Subject Area:
Human-in-the-Loop Systems
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