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Article

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

1
Mechatronics Department, Bjelovar University of Applied Sciences, 43000 Bjelovar, Croatia
2
Cognitus Ltd., 10000 Zagreb, Croatia
3
Akromion—Special Hospital for Orthopaedic Surgery, 49217 Krapinske Toplice, Croatia
4
Laboratory for Robotics and Intelligent Control Systems (LARICS), Faculty of Electrical Engineering and Computing, University of Zagreb, 10000 Zagreb, Croatia
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(12), 2504; https://doi.org/10.3390/app9122504
Received: 8 May 2019 / Revised: 9 June 2019 / Accepted: 17 June 2019 / Published: 19 June 2019
(This article belongs to the Section Mechanical Engineering)
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. View Full-Text
Keywords: leg length discrepancy; human body balancing algorithm; 3-RPS parallel manipulator; force plate; center of mass; leg load distribution leg length discrepancy; human body balancing algorithm; 3-RPS parallel manipulator; force plate; center of mass; leg load distribution
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MDPI and ACS Style

Vrhovski, Z.; Obrovac, K.; Nižetić, J.; Mutka, A.; Klobučar, H.; Bogdan, S. System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing. Appl. Sci. 2019, 9, 2504. https://doi.org/10.3390/app9122504

AMA Style

Vrhovski Z, Obrovac K, Nižetić J, Mutka A, Klobučar H, Bogdan S. System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing. Applied Sciences. 2019; 9(12):2504. https://doi.org/10.3390/app9122504

Chicago/Turabian Style

Vrhovski, Zoran, Karlo Obrovac, Josip Nižetić, Alan Mutka, Hrvoje Klobučar, and Stjepan Bogdan. 2019. "System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing" Applied Sciences 9, no. 12: 2504. https://doi.org/10.3390/app9122504

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