Human walking dynamics: modeling, identification and control
Institute of Engineering and Computational Mechanics, University of Stuttgart, 70550 Stuttgart, Germany
Human gait simulation is a complex dynamical problem that requires, in addition to the mechanical model, the observance of muscle activations, neural excitations, and energetic and aesthetic considerations. After an short review on the historical development two- and three-dimensional models using multibody system dynamics are presented. The identification of the muscle actuation during human walking is based on data in literature comparing the resultant torques to each other. The control design uses inverse dynamics approaches and an optimization framework minimizing the metabolical energy consumption and improving the aesthetics. Numerical simulation results are shown for planar as well as spatial models.
© Owned by the authors, published by EDP Sciences, 2014
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