Skip to main content
Article thumbnail
Location of Repository

Predictive modelling of human walking over a complete gait cycle

By L Ren, RK Jones and D Howard

Abstract

An inverse dynamics multi-segment model of the body was combined with optimisation techniques to simulate normal walking in the sagittal plane on level ground. Walking is formulated as an optimal motor task subject to multiple constraints with minimisation of mechanical energy expenditure over a complete gait cycle being the performance criterion. All segmental motions and ground reactions were predicted from only three simple gait descriptors (inputs): walking velocity, cycle period and double stance duration. Quantitative comparisons of the model predictions with gait measurements show that the model reproduced the significant characteristics of normal gait in the sagittal plane. The simulation results suggest that minimising energy expenditure is a primary control objective in normal walking. However, there is also some evidence for the existence of multiple concurrent performance objectives.\ud \ud Keywords: Gait prediction; Inverse dynamics; Optimisation; Optimal motor tas

Topics: R1, health_and_wellbeing
Publisher: Elsevier
OAI identifier: oai:usir.salford.ac.uk:210

Suggested articles

Citations

  1. (1987). A dynamic optimisation technique for predicting muscle forces in the swing phase of gait.
  2. (1996). Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters.
  3. (1995). An inverse dynamics model for the analysis, reconstruction and prediction of bipedal walking.
  4. (1971). An optimal programming study of human gait.
  5. (1981). Analysis of the linear displacement of the head and trunk during walking at different speed.
  6. (2003). Biomechanics and muscle coordination of human walking. Part I: Introduction to concepts, power transfer, dynamics and simulations. doi
  7. (2003). Biomechanics and muscle coordination of human walking. Part II: Lessons from dynamical simulations and clinical implications.
  8. (2001). Computer modeling and simulation of human movement.
  9. (1992). Derivation of optimal walking motions for a bipedal walking robot.
  10. (2005). Dynamic analysis of load carriage biomechanics during human level walking.
  11. (2001). Dynamic optimisation of human walking.
  12. (1976). Energetics of human walking. In:
  13. (1994). Human locomotion. In:
  14. (1997). Inverse dynamics in human locomotion. In: Allard
  15. (1977). Mechanical work and efficiency in level walking and running.
  16. (1990). Modeling musculoskeletal movement systems: joint and body-segment dynamics, musculoskeletal actuation, and neuromuscular control. In:
  17. (1978). Movements and mechanical energy changes in the upper part of the human body during walking.
  18. (1984). Muscles, Reflexes, and Locomotion.
  19. (2001). Optimal reference trajectories for walking and running of a biped robot.
  20. (1989). Performance objectives in human movement: A review and application to the stance phase of normal walking.
  21. (1990). Performing whole-body simulations of gait with 3-D, dynamic musculoskeletal models. In:
  22. (1981). Practical Optimization,
  23. (1987). Suboptimal trajectory planning of a five-link human locomotion model.
  24. (1990). The Biomechanics and Motor Control of Human Movement (2nd Edition).
  25. (1980). Transfer of mechanical energy within the total body and mechanical efficiency during treadmill walking.

To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.