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Modeling, Sensing and Control of Human Bipedal Walking with Foot Slip

Reporter: Professor Jingang Yi, Rutgers University, USA

Time: 10:00-11:00

Place: Room 410, Old Hydraulic Building


Human walking is a fundamental locomotion that is developed at an early stage in our lives. Maintaining stable walking capability demands a substantial effort and requires synchronization and coordination of neurological, sensorimotor and musculoskeletal systems. Disturbances such as foot slip require even more demanding walking control strategies for successful recovery and fall prevention. It is however challenging to capture and model human motion and reaction to foot slip. In this talk, I will first present modeling of foot slip evolution to understand how the foot slip is generated. I will then discuss a new bipedal modeling approach to relax the non-slip assumption used in the existing literature. In the third part, I will present a novel real-time foot slip detection method using only wearable inertial measurement units (IMUs). The developed slip-prediction algorithm is built on the bipedal dynamic model and is also integrated with human locomotion constraints. Finally, I will discuss a new two-mass LIP model for human balance control during normal walking and walking with foot slip. We extend the capture point (CP)-based control approach and incorporate time-varying locations of the zero moment point (ZMP) and the LIP pivoting location. I will finish this talk by briefly describing the design and fabrication of a wearable robotic knee assistive device for slip-induced fall prevention. If time permits, I will also briefly present various other research projects at the Robotics, Automation and Mechatronics (RAM) Lab at Rutgers University.

Brief Introduction:

Professor Jingang Yi received the B.S. degree in electrical engineering from Zhejiang University in 1993, the M.Eng. degree in precision instruments from Tsinghua University in 1996, and the M.A. degree in mathematics and the Ph.D. degree in mechanical engineering from the University of California, Berkeley, in 2001 and 2002, respectively. He is currently an Associate Professor of Mechanical Engineering at Rutgers University, USA. His research interests include autonomous robotic and vehicle systems, dynamic systems and control, mechatronics, automation science and engineering, with applications to biomedical systems, transportation systems and civil infrastructure systems. Prof. Yi has received many prestigious awards, including the 2015 Distinguished Visiting Scholars, University of Technology, Sydney (UTS), Australia, the 2014 ASCE Charles Pankow Award for Innovation, the 2013 Rutgers Board of Trustees Research Fellowship for Scholarly Excellence, and the 2010 U.S. National Science Foundation (NSF) CAREER Award. He has coauthored papers that have been awarded several best papers at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, ASME Dynamic Systems and Control Conference, and IEEE International Conference on Robotics and Automation. He has served as an Associate Editor for the IEEE Transactions on Automation Science and Engineering, the IFAC journal Control Engineering Practice, the ASME Journal of Dynamic Systems, Measurement and Control, and the IEEE Robotics and Automation Society Conference Editorial Board (since 2008) and many other international conferences editorial boards. Prof. Yi is the past Chair of the Mechatronics Technical Committee in ASME Dynamic Systems and Control Division and the Program Chair of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics. His research has been supported by the NSF, NIST, FHWA, NASA, and other agencies and industry in the U.S. and China.