Research on healthy subject gait cycle phase at different walking speeds

The human gait cycle phase is an important parameter which is used to reflect the characteristics of human gait. In this paper, the gait cycle phase was divided into six parts based on clinical manifestations of common abnormal gait. According to the sole´s position and orientation during a gait cycle, flexion and extension angles of the sole were defined. The largest Lyapunov exponent (LE) and average power were introduced to reflect the stability and energy expenditure of human body under different walking speeds. The healthy subjects´ gait parameters data under different gait speeds were captured through motion capture system. The experimental results showed that, in order to adapt to different walking speeds, human gait cycle and other characteristic parameters were adjusted. In this paper, the reason why the stance time changed was pointed out. The body´s stability decreased with the increase of walking speed, however, the average power value increased. The results provided a basis for gait evaluation and gait planning of lower limb rehabilitation training robot.