P2-8-5 
4.2 Walking analysis 
In order to analyze walking motion, in particular walking cycle, 
motion analysis for the left ankle were performed. Figure 6 
shows the horizontal acceleration and figure 7 shows the 
vertical displacement of the ankle. 
Walking cycle are divided into two phase, i.e., stance phase and 
swing phase. Furthermore, each phase consist of following 
elements, 
Stance phase 
+ heel strike 
+ foot flat 
+ mid stance 
+ heel off 
+ toe off 
Swing phase 
+ acceleration 
+ mid swing 
+ deceleration 
Here, let express these elements by signs, heel strike (A), foot 
flat (B), heel off (C), toe off (D), and mid swing (E). Period B 
and C shows mid stance, A and E shows acceleration, and E and 
A shows deceleration. These elements are indicated in figure 7, 
and figure 8 shows the walking cycle. 
It may be seen from these figure that, 
1. Regular repetition of the each element such as heel strike, 
foot flat, mid stance, heel off and toe off in stance phase, and 
acceleration, mid awing and deceleration in swing phase are 
recognized. 
2. Stable walking cycle can be found from the latter half of the 
right section to the the first half of the left section. 
3. The maximum horizontal acceleration of the ankle can be 
found slightly after at the toe off points. 
4. The minimum horizontal acceleration of the ankle can be 
found slightly before at the heel strike points. 
5. The vertical displacement of the ankle shows the maximum 
value at the toe off point and descend without break to mid 
swing points, and heel strike point can be found after slight 
ascending of the ankle. 
6. Each elements for foot flat , mid stance and heel off can't be 
found clearly in the vertical displacement of the ankle, but 
these elements can be found in the horizontal acceleration. 
7. One walking cycle is analyzed as 1.4 seconds and 1.3 m. 
8. Stance phase and swing phase are analyzed as 0.8 and 0.6 
seconds respectively, and shows that stance account of 57% 
and swing account of 43 % of one walking cycle. 
9. It is analyzed that foot flat point take place at 16% point, 
heel off take place at 29% and toe off take place at 57% from 
the heel strike point of time. 
10. It is analyzed that walking cycle is sensitively influenced 
by the changing of the head (* point in figure 7). 
11. It is analyzed that the changing of walking cycle in the 
latter half of the left section is due to the goal of walking 
course. 
3. More than 2m and less than 15m walking course are needed 
for dynamic analysis of human walking. 
4. It is necessary to develop a system what tracking and 
imaging can be achieved for the whole walking course. 
5 CONCLUSION 
In order to analyze natural human walking, walking experiment 
was performed in 15m walking course using the video theodolite 
and the digital video camera system, i.e., a digital video camera 
was mounted on a motorized video theodolite. Due to an 
asynchronous the video theodolite system and digital video 
system, and the relatively slow data (rotation parameters) 
acquisition, system construction for real-time tracking and 
imaging was imperfection and this problem became issue need 
to be resolved before the video theodolite system becomes 
operational in this field. 
However, it is concluded that the motorized video theodolite 
system combined with the digital camera is very useful for 
walking analysis, and it is expected that this system will 
become a useful tool for real-time tracking and imaging fields 
since the rotation parameters and sequential image can be 
acquired in real-time while recording a moving object. 
References 
Chikatsu,H. and Murai,S.,1995. Application of a Video 
Theodolite System for Sports Dynamics, International Archives 
of Photogrammetry and Remote Sensing, Vol.30-5W1, 
pp.110-115. 
Chikatsu,H. and et al.,1996. Dynamic Analysis of Human 
Motion using Sequential Images of Video Theodolite, 
International Archives of Photogrammetry and Remote 
Sensing, Vol.XXXI, Part B5, pp.82-87. 
Nakano,K., Chikatsu.H., Murai.S., 1998. Automated Distance 
Measurement of SKI Jump using Multi-Image, International 
Archives of Photogrammetry and Remote Sensing, Vol.XXXII, 
Part5, 775-778. 
Anai. T., Chikatsu.H., Murai.S,1998. Development of Digital 
Video Camera and Application for Human Motion Analysis, 
International Archives of Photogrammetry and Remote 
Sensing, Vol.XXXII, Part5, 392-395. 
It is concluded from these analysis that, 
1. Reasonable results were obtained compare with an 
established theory. 
2. Brace effects can not be found.