title: A fast inverse dynamics model of walking for use in optimisation studies.
abstract: Computer simulation of human gait, based on measured motion data, is a well-established technique in biomechanics. However, optimisation studies requiring many iterative gait cycle simulations have not yet found widespread application because of their high computational cost. Therefore, a computationally efficient inverse dynamics model of 3D human gait has been designed and compared with an equivalent model, created using a commercial multi-body dynamics package. The fast inverse dynamics model described in this paper led to an eight fold increase in execution speed. Sufficient detail is provided to allow readers to implement the model themselves.
authors.affiliation: a Department of Orthopaedic Surgery , UC Davis Medical Center , Sacramento , USA.
authors.forename: Hadi
authors.initials: H
authors.lastname: Salehi
authors.affiliation: b School of Mechanical, Aerospace and Civil Engineering , University of Manchester , Manchester , UK.
authors.forename: Lei
authors.initials: L
authors.lastname: Ren
authors.affiliation: c School of Computing, Science & Engineering , University of Salford , Salford , UK.
authors.forename: David
authors.initials: D
authors.lastname: Howard
mesh_terms: D001696:Biomechanical Phenomena; D003198:Computer Simulation; D005684:Gait / Q000502:physiology; D006801:Humans; D007700:Kinetics; D007866:Leg / Q000502:physiology; D008954:Models, Biological; D011187:Posture / Q000502:physiology; D016138:Walking / Q000502:physiology*
keywords: Fast inverse dynamics; gait simulation; prediction