System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing
Source abstract
Abstract
Leg Length Discrepancy (LLD) causes a shift of the Center of Mass (CoM) of the human body, as well as an asymmetry in load distribution on the lower extremities. Existing LLD evaluation methods do not take into account this shift in the human body’s CoM. In this paper, a methodology and mechatronic system for the Evaluation and Compensation of LLD for Human Body Balancing are described. The human body’s CoM is measured with two force plates located on two parallel manipulators. Since persons with LLD experience a shift in their CoM, by raising the force plate that is under the shorter leg, the human body can be balanced. For this purpose, the Human Body Balancing Algorithm (HBBA) was proposed and developed. By running the HBBA, the height difference between the force plates under the left and right leg can be measured, which then represents the LLD evaluation. Based on this evaluation, it is possible to design and make a shoe insole which compensates the influence of LLD with the goal of equalizing the load on the legs. A virtual mathematical model of the system was created and the simulation results of the HBBA are presented. The mechatronic system, developed and used to conduct experiments and measurements, is described in detail.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Prosthetics and Rehabilitation Robotics · Muscle activation and electromyography studies · Diabetic Foot Ulcer Assessment and Management
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Mechatronics Department, Bjelovar University of Applied Sciences, 43000 Bjelovar, Croatia
Cognitus Ltd., 10000 Zagreb, Croatia
Akromion—Special Hospital for Orthopaedic Surgery, 49217 Krapinske Toplice, Croatia
Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, Croatia
Funding
HAMAG-BICRO, Croatia
References (33)
Show source-provided references
1. Eliks, M., Ostiak-Tomaszewska, W., Lisiński, P., and Koczewski, P. (2017). Does structural leg-length discrepancy affect postural control? Preliminary study. BMC Musculoskelet. Disord., 18.10.1186/s12891-017-1707-x ↗
2. The Effects of Leg Length Discrepancy on Stability and Kinematics-Kinetics Deviations: A Systematic Review10.1155/2018/5156348 ↗
3. Khamis, S., Danino, B., Springer, S., Ovadia, D., and Carmeli, E. (2017). Detecting Anatomical Leg Length Discrepancy Using the Plug-in-Gait Model. Appl. Sci., 7.10.3390/app7090926 ↗
4. Khamis, S., Danino, B., Ovadia, D., and Carmeli, E. (2018). Correlation between Gait Asymmetry and Leg Length Discrepancy—What Is the Role of Clinical Abnormalities?. Appl. Sci., 8.10.3390/app8101979 ↗
5. The effect of simulated leg length discrepancy on lower limb biomechanics during gait10.1016/j.gaitpost.2017.12.024 ↗
6. Leg length discrepancy10.1016/S0966-6362(01)00148-5 ↗
7. The importance of submalleolar deformity in determining leg length discrepancy10.1016/j.surge.2013.12.003 ↗
8. Methods for Assessing Leg Length Discrepancy10.1007/s11999-008-0524-9 ↗
9. Measuring leg-length discrepancy by the “iliac crest palpation and book correction” method: Reliability and validity10.1053/apmr.2001.22622 ↗
10. Khamis, S., Springer, S., Ovadia, D., Krimus, S., and Carmeli, E. (2018). Measuring Dynamic Leg Length during Normal Gait. Sensors, 18.10.3390/s18124191 ↗
11. Perception of Imposed Leg Length Inequality in Normal Subjects10.1177/112070001002000414 ↗
12. The Effect of Structural Leg Length Discrepancy on Vertical Ground Reaction Force and Spatial—Temporal Gait Parameter: A Pilot Study
13. Asymmetric Limb Loading with True or Simulated Leg-Length Differences10.1097/01.blo.0000119460.33630.6d ↗
14. The effect of leg length discrepancy upon load distribution in the static phase (standing)10.1016/j.gaitpost.2014.06.020 ↗
15. Abu-Faraj, Z., MM, A.A., and RA, A.D. (2015, January 14–16). Leg Length Discrepancy: A Study on In-Shoe Plantar Pressure Distribution. Proceedings of the 8th International Conference on Biomedical Engineering and Informatics (BMEI), Shenyang, China.10.1109/BMEI.2015.7401534 ↗
16. Vrhovski, Z., Markov, M., Pavlic, T., Obrovac, K., Mutka, A., and Nižetić, J. (2017, January 8–10). Design of a Mechanical Assembly for the Dynamic Evaluation of Human Body Posture. Proceedings of the 16th International Scientific Conference on Production Engineering (CIM2017), Zadar, Croatia.
17. (2019, April 05). Design of a Mechanical Assembly for the Dynamic Evaluation of Human Body Posture. Available online: https://youtu.be/C-4RpSqBi90.
18. Vrhovski, Z., Obrovac, K., Mutka, A., and Bogdan, S. (2017, January 19–21). Design, modeling and control of a system for dynamic measuring of leg length discrepancy. Proceedings of the 21st International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, Romania.10.1109/ICSTCC.2017.8107117 ↗
19. Vrhovski, Z., Benkek, G., Mutka, A., Obrovac, K., and Bogdan, S. (2018, January 19–22). System for Compensating for Leg Length Discrepancy Based on the Estimation of the Centre of Mass of a Human Body. Proceedings of the 26th Mediterranean Conference on Control and Automation (MED), Zadar, Croatia.10.1109/MED.2018.8444144 ↗
20. Comparison of three methods to estimate the center of mass during balance assessment10.1016/S0021-9290(03)00251-3 ↗
21. Robertson, D., Caldwell, G.E., Hamill, J., Kamen, G., and Whittlesey, S.N. (2013). Research Methods in Biomechanics, Human Kinetics Publishers. [2nd ed.].10.5040/9781492595809 ↗
22. Ruiz-Hidalgo, N.C., Blanco-Ortega, A., Abúndez-Pliego, A., Colín-Ocampo, J., and Arias-Montiel, M. (2016, January 22–25). Design and Control of a Novel 3-DOF Parallel Robot. Proceedings of the International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE), Cuernavaca, Mexico.10.1109/ICMEAE.2016.021 ↗
23. Garcia Gonzalez, L., and Campos, A. (2018). Maximal Singularity-Free Orientation Subregions Associated with Initial Parallel Manipulator Configuration. Robotics, 7.10.3390/robotics7030057 ↗
24. The 3-RPS parallel manipulator from an algebraic viewpoint10.1016/j.mechmachtheory.2013.12.007 ↗
25. Taghirad, H.D. (2013). Parallel Robots: Mechanics and Control, CRC Press.10.1201/b16096 ↗
26. Rad, C., Manic, M., Bälan, R., and Stan, S. (2010, January 13–15). Real time evaluation of inverse kinematics for a 3-RPS medical parallel robot usind dSpace platform. Proceedings of the 3rd International Conference on Human System Interaction, Rzeszow, Poland.10.1109/HSI.2010.5514590 ↗
27. Inverse kinematics, forward kinematics and working space determination of 3DOF parallel manipulator with S-P-R joint structure
28. Estimation of the centre of mass from motion capture and force plate recordings: A study on the elderly10.1155/2011/123246 ↗
29. Eguchi, R., and Takahashi, M. (2018). Validity of the Nintendo Wii Balance Board for kinetic gait analysis. Appl. Sci., 8.10.3390/app8020285 ↗
30. Measuring Center of Pressure Signals to Quantify Human Balance Using Multivariate Multiscale Entropy by Designing a Force Platform10.3390/s130810151 ↗
31. Vrhovski, Z., and Bogdan, S. (2019, June 06). Virtual Simulation Model for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing. Available online: https://www.researchgate.net/publication/333668115_Virtual_Simulation_Model_for_Evaluation_and_Compensation_of_Leg_Length_Discrepancy_for_Human_Body_Balancing.10.3390/app9122504 ↗
32. Leg-Length Discrepancy, Functional Scoliosis, and Low Back Pain10.2106/JBJS.RVW.17.00148 ↗
33. Zhu, Y. (2017). Design and Validation of a Low-Cost Portable Device to Quantify Postural Stability. Sensors, 17.10.3390/s17030619 ↗