Modeling and Analysis of Human Lower Limb in Walking Motion
Dynamic modeling and analysis of human lower limb motion is necessary in many fields like medical, robotics and energy supplying of wearable device. As it is complex to model the human lower limb motions, a simplified plant model of human lower limb was established in this paper to explore the properties in walking motion. To present the position relation of each joints in the plant model, kinematic methods such as Denavit-Hartenberg notion and Roberson-Wittenburg algorithm were used. In addition, dynamic methods like Newton Euler, Lagrange equation and Kane equation were also applied to characterize the plant model. Simultaneously, the applicability of these methods was illustrated and compared. Furthermore, an experiment was conducted on a treadmill at a speed of 5 km/h to evaluate the validity of plant model. The Simulink model results were compared with the experiment results, which demonstrated the robustness and accuracy of the plant model.
KeywordsHuman lower limb Denavit-Hartenberg Newton Euler equation Lagrange method
This work was in part by the National Key R&D Program of China (2018YFB1306100).
- 5.Suzuki, Y., Inoue, T., Nomura, T.: A simple algorithm for assimilating marker-based motion capture data during periodic human movement into models of multi-rigid-body systems. Front. Bioeng. Biotechnol. 6 (2018)Google Scholar
- 8.Sun, J.: Dynamic modeling of human gait using a model predictive control approach. Dissertations and Theses - Gradworks (2015)Google Scholar
- 11.Roberson, R.E., Schwertassek, R., Huston, R.L.: Dynamics of Multibody Systems (1989)Google Scholar
- 13.Pejhan, S., Farahmand, F., Parnianpour, M.: Design optimization of an above-knee prosthesis based on the kinematics of gait. In: International Conference of the IEEE Engineering in Medicine and Biology Society (2008)Google Scholar
- 15.Nasir, N.H.M., Ibrahim, B.S.K.K., Huq, M.S., Ahmad, M.K.I.: Modelling of subject specific based segmental dynamics of knee joint. In: Advances in Electrical and Electronic Engineering (2017)Google Scholar
- 16.Khalil, W., Kleinfinger, J.F.: A new geometric notation for open and closed-loop robots. In: Institute of Electrical and Electronics Engineers 1986 IEEE International Conference on Robotics and Automation, San Francisco (1986)Google Scholar