Sharif Digital Repository

A two-dimensional seven link biped dynamic model was developed to investigate the mechanical characteristics of the normal and amputee locomotion during the complete gait cycle. The foot-ground contact was simulated using a five-point penetration contact model. The equations of motion were derived using Lagrange method. Optimization of the normal human walking model provided constant coefficients for the driving torque equations that could reasonably reproduce the normal kinematical pattern. The resulting torques were then applied to the intact joints of the amputee model with a prosthetic leg equipped with a kinematical driver controller for the ankle and either a hydraulic, elastic or...