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Table of contents
1 Introduction
1.1 Context
1.1.1 Cerebral Palsy
1.1.2 Orthopaedic Surgery
1.2 Motivation
1.3 Manuscript contents
2 Walking: definition, analysis, disorders, treatment and simulation
2.1 The walking activity
2.1.1 Gait Spatio-Temporal Parameters
2.1.2 Kinematical Parameters
2.1.3 Dynamical Parameters
2.1.4 Balance Parameters
2.2 Analysis and treatment of CP locomotion disorders
2.2.1 Most common surgeries among CP
2.3 Statistical prediction of surgical outcomes
2.4 Tools for the simulation of human walking
2.5 Proposed Approach
3 Framework for the simulation of a walking motion for a virtual human
3.1 XDE Physics Engine
3.1.1 Kinematic structure and Inertial Parameters
3.2 Linear Quadratic Programming Controller
3.2.1 Actuation Constraints
3.2.1.1 Torque limits
3.2.1.2 Acceleration limits
3.2.1.3 Velocity limits
3.2.1.4 Joint limits
3.2.2 Contact Constraints
3.2.3 Tasks for the Walking motion
3.2.3.1 Full Joint Task
3.2.3.2 Left/Right Foot Task
3.2.3.3 CoM Task
3.2.3.4 Pelvis Height & Pelvis Orientation Tasks
3.2.3.5 Pelvis-Torso Joint & Torso-Head Joint Tasks
3.2.4 Contacts Manager
3.3 Simulation example
3.3.1 Method
3.3.2 Results & Discussion
3.3.2.1 Spatio-temporal Parameters
3.3.2.2 Kinematical parameters
3.3.2.3 Dynamical parameters
3.3.2.4 Balance parameters
3.4 Conclusion
4 Developing a more human-like walking
4.1 Foot Modelling
4.1.1 Foot Models in the literature
4.1.2 Articulated Foot
4.2 Contacts Management
4.2.1 Toe Walking
4.2.2 Non Pathological Walking
4.2.3 New Flat Feet Walking
4.3 References for the Foot Related Tasks
4.3.1 The CoM Task
4.3.2 The Foot Tasks
4.4 Gait Initialization
4.4.1 Gait Initialization in the literature
4.4.2 Gait Initialization in the Walking Procedure
4.5 Summary
5 Simulation Experiments
5.1 Non Pathological Walking
5.1.1 Method
5.1.2 Results & Discussion
5.1.2.1 Spatio-temporal Parameters
5.1.2.2 Kinematical parameters
5.1.2.3 Dynamical parameters
5.1.2.4 Balance parameters
5.2 Toe Walking
5.2.1 Method
5.2.2 Results & Discussion
5.2.2.1 Spatio-temporal Parameters
5.2.2.2 Kinematical Parameters
5.2.2.3 Dynamical Parameters
5.2.2.4 Balance parameters
5.3 Flat Feet Walking
5.3.1 Method
5.3.2 Results & Discussion
5.3.2.1 Spatio-temporal Parameters
5.3.2.2 Kinematical Parameters
5.3.2.3 Dynamical Parameters
5.3.2.4 Balance Parameters
5.4 Conclusion
6 Simulation and Analysis of Pathological Walking Patterns
6.1 Pathological Walking Patterns among Cerebral Palsy Children
6.1.1 Knee extension limitation
6.1.2 Ankle dorsiflexion limitation
6.2 Simulation of gait abnormalities
6.2.1 Method
6.2.2 Results & Discussion
6.2.2.1 Knee extension restriction effect on the non pathological contact
6.2.2.2 Knee extension restriction effect on toe walking .
6.2.2.3 Ankle dorsiflexion restriction effect on toe walking .
6.3 Concluding remarks
7 Conclusion
7.1 Contributions
7.2 Perspectives
7.2.1 Improvements
7.2.2 Applications
A Markers used in CGA exams
Bibliography
