Quantification of temporal parameters for tripedalism

Arito Yozu, Dai Owaki, Masashi Hamada, Takuya Sasaki, Qi An, Tetsuro Funato, Nobuhiko Haga

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Bipedalism is one of the distinctive features of humans. However, humans in certain conditions use tripedalism for their locomotion. Patients who cannot bear their weight on their own legs or patients with balance disorders often use a cane. Temporal parameters have been defined for bipedalism, while they have not been defined for tripedalism. Therefore, in clinical rehabilitation, evaluation of patients’ gait using a cane is still very much a qualitative issue. In this study, we propose how we can define the temporal parameters for tripedalism. We calculated six quantitative numbers: (1) gait cycle of leg 1, (2) lag of foot strike between leg 1 and leg 2, (3) lag of foot strike between leg 1 and leg 3, (4) stance phase of leg 1, (5) stance phase of leg 2, and (6) stance phase of leg 3. With a set of these six elements, the foot strike and foot-off pattern of the three legs is uniquely determined. Because these elements are measurable quantitatively, we are able to express the tripedal gait in a quantitative manner with this number set. We call this number set “gait matrix”. The application of this gait matrix may be useful for evaluating patients’ gait using a cane in rehabilitation.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 14 - Proceedings of the 14th International Conference IAS-14
EditorsWeidong Chen, Hesheng Wang, Koh Hosoda, Emanuele Menegatti, Masahiro Shimizu
PublisherSpringer Verlag
Number of pages7
ISBN (Print)9783319480350
Publication statusPublished - 2017
Event14th International Conference on Intelligent Autonomous Systems, IAS 2016 - Shanghai, China
Duration: 2016 Jul 32016 Jul 7

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


Conference14th International Conference on Intelligent Autonomous Systems, IAS 2016
City Shanghai


  • Cane
  • Gait
  • Locomotion
  • Rehabilitation
  • Temporal parameters
  • Tripedalism


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