`Walking-Mode Maps', based on Slip/Non-Slip criteria, are proposed. Slip/Non-Slip criteria are expressed as follows:
• for a slip to occur: |
Fh/
Fn|
h ≥
μs or |
Fh/
Fn|
t ≥
μs • for no slip to occur: |
Fh/
Fn|
h <
μs or |
Fh/
Fn|
t <
μs |
Fh/
Fn|
h and |
Fh/
Fn|
t are the maximum peak value of the traction coefficient at heel-strike and toe-off respectively, and
μs is the static friction coefficient between shoe sole and walkway. The `Walking-Mode Map' for the level-surface shows the possible regime of each walking mode as
Slip, Slip possible or
No slip. Our results, which are based upon a small population and strictly-specified test conditions, indicate that a static friction coefficient higher than 0.47 will prevent both forward and backward slips under our test conditions and under a range of step lengths of 0.55 to 0.95 m and walking speeds of 1.0 to 1.9 m/s. We also found that shorter steps reduce the chance of a slip. A `Walking-Mode Map' for inclined-surface ambulation has also been developed. The inclined-surface results show the friction and inclination-angle-related regime of each walking mode:
Slip, Forward slip at heel-strike phase in descending, Backward slip at toe-off phase in ascending, or
No slip. Again, extreme caution must be taken in generalizing these small-sample results (n=1, for the inclined tests) to the general population.
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