Low-dimensional sagittal plane model of normal human walking.
This paper applies a robotics-inspired approach to derive a low-dimensional forward-dynamic hybrid model of human walking in the sagittal plane. The low-dimensional model is derived as a subdynamic of a higher-dimensional anthropomorphic hybrid model. The hybrid model is composed of models for single support (SS) and double support (DS), with the transition from SS to DS modeled by a rigid impact to account for the impact at heel-contact. The transition from DS to SS occurs in a continuous manner. Existing gait data are used to specify, via parametrization, the low-dimensional model that is developed. The primary result is a one-degree-of-freedom model that is an exact subdynamic of the higher-dimensional anthropomorphic model and describes the dynamics of walking. The stability properties of the model are evaluated using the method of Poincare. The low-dimensional model is validated using the measured human gait data. The validation demonstrates the observed stability of the measured gait.
Srinivasan
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Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210, USA. srinivasan.54@osu.edu
Raptis
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Westervelt
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D032701:Biomimetics / Q000379:methods*; D003198:Computer Simulation; D005684:Gait / Q000502:physiology*; D007596:Joints / Q000502:physiology*; D008954:Models, Biological; D012371:Robotics / Q000379:methods*; D016138:Walking / Q000502:physiology*