Jiwon Jeong

Push-recovery stability of biped locomotion

Biped controller design pursues two fundamental goals; simulated walking should look human-like and robust against perturbation while maintaining its balance. Normal gait is a pattern of walking that humans normally adopt in undisturbed situations. It has previously been postulated that normal gait is more energy efficient than abnormal or impaired gaits. However, it is not clear whether normal gait is also superior to abnormal gait patterns with respect to other factors, such as stability. Understanding the correlation between gait and stability is an important aspect of biped controller design. We studied this issue in two sets of experiments with human participants and a simulated biped. The experiments evaluated the degree of resilience to external pushes for various gait patterns. We identified four gait factors that affect the balance-recovery capabilities of both human and simulated walking. We found that crouch gait is significantly more stable than normal gait against lateral push. Walking speed and the timing/magnitude of disturbance also affect gait stability. Our work would provide a potential way to compare the performance of biped controllers by normalizing their output gaits and improve their performance by adjusting these decisive factors.

Unexpected angular or rotational deformity after corrective osteotomy

BackgroundCodman’s paradox reveals a misunderstanding of geometry in orthopedic practice. Physicians often encounter situations that cannot be understood intuitively during orthopedic interventions such as corrective osteotomy. Occasionally, unexpected angular or rotational deformity occurs during surgery.This study aimed to draw the attention of orthopedic surgeons toward the concepts of orientation and rotation and demonstrate the potential for unexpected deformity after orthopedic interventions. This study focused on three situations: shoulder arthrodesis, femoral varization derotational osteotomy, and femoral derotation osteotomy.MethodsFirst, a shoulder model was generated to calculate unexpected rotational deformity to demonstrate Codman’s paradox. Second, femoral varization derotational osteotomy was simulated using a cylinder model. Third, a reconstructed femoral model was used to calculate unexpected angular or rotational deformity during femoral derotation osteotomy.ResultsUnexpected external rotation was found after forward elevation and abduction of the shoulder joint. In the varization and derotation model, closed-wedge osteotomy and additional derotation resulted in an unexpected extension and valgus deformity, namely, under-correction of coxa valga. After femoral derotational osteotomy, varization and extension of the distal fragment occurred, although the extension was negligible.ConclusionsSurgeons should be aware of unexpected angular deformity after surgical procedure involving bony areas. The degree of deformity differs depending on the context of the surgical procedure. However, this study reveals that notable deformities can be expected during orthopedic procedures such as femoral varization derotational osteotomy.