The Way We Stand: A Sequential Case Study on Foot Angle

This study quantifies the significance of foot angle as it relates to common biometric data to assess its use in the clinical realm. There are two objectives to this study;first to determine the relationship foot angle has with ten surveyed biometric data points (age, weight, height, biological makeup, shoe size, orthotic use, physical activity level, competitive sports history, lower extremity injury history, and reason for visiting doctor), and second to determine the average left and right foot angles of the population studied. The duration of this sequential case study with a sample size of 73 was December 9, 2021, to April 7, 2022. Participants were fully informed of the measurement steps, the purpose of the survey, and the goal of the project. Participants were asked to walk down the hallway as a distraction to collect the most accurate data on the participants’ stance. This study was performed at the Arizona Institute of Motion, a clinical office and private practice. Participants had the option to decline participation in the study. Correlational calculations and linear regressions were performed to support or reject the existence of a relationship between foot angle and the biometric data. It was found that the average left foot angle was 26.35 degrees, and the average right foot angle was 26.54 degrees. It was found that there was a strong positive correlation between left and right foot angles, and a weak positive relationship with both foot angles and weight, height, and shoe size. The optimized linear regression model had an adjusted r2 value of 0.549 for left foot angle against right foot angle, shoe size, and height, and an adjusted r2 value of 0.522 for right foot angle against left foot angle, shoe size, and height. Foot angle had no other relationships with the other biometric data and had limited quantitative significance. Additional study is required to confirm its numerical importance, but foot angle may continue to be used in clinical settings in conjunction with gait analysis and qualitative assessments for musculoskeletal function. Foot angle has limited quantitative significance but may maintain a high potential for clinical utility when used in conjunction with gait analysis and qualitative assessments.

Novel algorithm of gait planning of hydraulic quadruped robot to avoid foot slidingand reduce impingement

In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this paper.First,the foot trajectory is designated as the improved composite cycloid foot trajectory.Second,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the robot.Then with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this paper.Finally,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are conducted.The validity of the proposed algorithm is confirmed through the co-simulation and experimentation.The results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.