Dynamic simulation of the biped normal and amputee human gait

Shandiz, M. A ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. Publisher: 2010
  3. Abstract:
  4. 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 constant friction controller for the knee joint. Design optimization of the prosthetic joints, to achieve the closet knee flexion and ankle plantar flexion pattern to that of the normal gait, resulted in a good correlation. The average differences were 5.9° for hydraulic knee, 11.6° for elastic knee and 13.2° for constant friction knee, and 11° for the prosthetic ankle. It was concluded that a hydraulic knee controller could provide a better performance in reproducing the normal gait kinematics
  5. Keywords:
  6. Average difference ; Better performance ; Constant coefficients ; Contact modeling ; Design optimization ; Good correlations ; Mechanical characteristics ; Prosthetic joints ; Artificial limbs ; Computer simulation ; Equations of motion ; Friction ; Hydraulic machinery ; Joint prostheses ; Joints (anatomy) ; Mobile robots ; Optimization ; Physiological models
  7. Source: Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, 9 September 2009 through 11 September 2009, Istanbul ; 2010 , Pages 1113-1120 ; 9814291269 (ISBN) ; 9789814291262 (ISBN)