Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point. (6th February 2014)

• Record Type: Journal Article
• Authors: Abdulrahman, Alaa; Iqbal, Kamran; White, Gannon
• Other Names: Meghdari Ali Academic Editor.
• Is Part Of: Journal of robotics. Volume 2014(2014)
• Publication Date: 2014-02-06
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2014/245896
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : Physiologically and biomechanically, the human body represents a complicated system with an abundance of degrees of freedom (DOF). When developing mathematical representations of the body, a researcher has to decide on how many of those DOF to include in the model. Though accuracy can be enhanced at the cost of complexity by including more DOF, their necessity must be rigorously examined. In this study a planar seven-segment human body walking model with single DOF joints was developed. A reference point was added to the model to track the body's global position while moving. Due to the kinematic instability of the pelvis, the top of the head was selected as the reference point, which also assimilates the vestibular sensor position. Inverse dynamics methods were used to formulate and solve the equations of motion based on Newton-Euler formulae. The torques and ground reaction forces generated by the planar model during a regular gait cycle were compared with similar results from a more complex three-dimensional OpenSim model with muscles, which resulted in correlation errors in the range of 0.9–0.98. The close comparison between the two torque outputs supports the use of planar models in gait studies.