Center-of-Mass Based foot Placement in Stumble Recovery

Maura Eveld*, Herman Van Der Kooij, Shane King, Michael Goldfarb, Karl Zelik, Edwin Van Asseldonk

*Corresponding author for this work

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


Exploring how foot placement relates to center-of-mass kinematics after unexpected disturbances for healthy adults could improve our understanding of human balance as well as inform the design/control of assistive device interventions to reduce fall risk. Therefore, in this work a kinematic dataset of stumble recovery responses from seven healthy adults was analyzed to investigate the effects of stumble perturbations on COM state, and the COM state's relationship to various foot placement metrics. COM velocity excursion after trips was significantly higher than excursion for unperturbed swing phases, increasing linearly as the trip occurred later in swing phase. Step length/width and foot position at heel-strike after the trip both increased with COM velocity at heel-strike, though weaker fits for foot positions suggest priority to other strategies. Swing durations were substantially longer for tripped swing phases versus normal swing phases and increased with COM velocity. This is the first investigation of these relationships for stumble recovery, and their alignment (or lack thereof) with previous models provides insights into the control of balance for this common daily-life disturbance.

Original languageEnglish
Title of host publication2023 International Conference on Rehabilitation Robotics, ICORR 2023
Place of PublicationPiscataway, NJ
Number of pages6
ISBN (Electronic)9798350342758
ISBN (Print)9798350342765
Publication statusPublished - 8 Nov 2023
Event2023 International Conference on Rehabilitation Robotics, ICORR 2023 - Singapore, Singapore
Duration: 24 Sept 202328 Sept 2023

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901


Conference2023 International Conference on Rehabilitation Robotics, ICORR 2023


Dive into the research topics of 'Center-of-Mass Based foot Placement in Stumble Recovery'. Together they form a unique fingerprint.

Cite this