AUTHOR=Ramakrishnan Tyagi , Lahiff Christina-Anne , Reed Kyle B. TITLE=Comparing Gait with Multiple Physical Asymmetries Using Consolidated Metrics JOURNAL=Frontiers in Neurorobotics VOLUME=12 YEAR=2018 URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2018.00002 DOI=10.3389/fnbot.2018.00002 ISSN=1662-5218 ABSTRACT=

Physical changes such as leg length discrepancy, the addition of a mass at the distal end of the leg, the use of a prosthetic, and stroke frequently result in an asymmetric gait. This paper presents a metric that can potentially serve as a benchmark to categorize and differentiate between multiple asymmetric bipedal gaits. The combined gait asymmetry metric (CGAM) is based on modified Mahalanobis distances, and it utilizes the asymmetries of gait parameters obtained from motion capture and force data recorded during human walking. The gait parameters that were used in this analysis represent spatio-temporal, kinematic, and kinetic parameters. This form of a consolidated metric will help researchers identify overall gait asymmetry by showing them if the overall gait symmetry is improving and avoid the case where one parameter's symmetry is improving while another is getting worse. The CGAM metric successfully served as a measure for overall symmetry with eleven different gait parameters and successfully showed differences among gait with multiple physical asymmetries. The results showed that mass at the distal end had a larger magnitude on overall gait asymmetry compared to leg length discrepancy. It also showed that the combined effects are varied based on the cancelation effect between gait parameters. The metric was also successful in delineating the differences of prosthetic gait and able-bodied gait at three different walking velocities.