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COBEM 2019
25th International Congress of Mechanical Engineering
2D SPATIAL MODEL OF THE HUMAN GAIT SINGLE SUPPORT PHASE BASED ON PREDICT IVE DYNAMICS
Submission Author:
Paulo Batista Goncalves , RJ
Co-Authors:
Manuel Lucas Sampaio de Oliveira, Paulo Batista Goncalves
Presenter: Manuel Lucas Sampaio de Oliveira
doi://10.26678/ABCM.COBEM2019.COB2019-0359
Abstract
Simulation of human body motion is a valuable tool in different fields such as robotics and biomechanics. The simulation of human motion is a challenging problem from the physical and computational perspectives and several models have been proposed in literature. Using a methodology named predictive dynamics, this work aims to propose a 2D spatial model of human walking during the single stance phase (SSP), using a flat foot adaptation. The model is based on inverse dynamics in which the angular displacements are interpolated by 5th degree B-splines and the body kinematics is calculated by using the robotic formulation proposed by Denavit-Hartenberg (DH). The equation of motion is developed by the recursive Lagrangian formulation due to its computational efficiency. An optimization problem is set up in order to obtain the control points of the B-splines using as the objective function the dynamic effort. The constraints imposed on the movement are time-dependent, such as the torque/angle limits, and the dynamic stability criterion defined by Zero Moment Point, or time-independent. The results from the model are favorably compared to Winter’s data, in particular the ground reaction forces.
Keywords
Human Gait, Predictive Dynamics, Optimization, Robotics, biomechanics
