Modeling and Analysis of Human Lower Limb in Walking Motion

  • Huan Zhao
  • Junyi CaoEmail author
  • Ruixue Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)


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.


Human lower limb Denavit-Hartenberg Newton Euler equation Lagrange method 



This work was in part by the National Key R&D Program of China (2018YFB1306100).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Xi’an Jiaotong UniversityXi’anChina

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