Interlimb coordination to avoid falling in perturbed walking

摘要

Balance recovery while walking is important to avoid falling. In this study, we analyzed the relationship of the movements between the perturbed stance leg and the unperturbed swing leg (interlimb coordination) after slip-related perturbations. We analyzed the interlimb coordination using phase portrait analysis of an inverted pendulum model and a simple pendulum model. The results suggest that the swing trajectory is modulated to converge on the steady-state walking by efficient recovery steps.