NDLI: Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Seipel, Justin
Copyright Year	2012
Abstract	The objective of work presented in this paper is to increase the center-of-mass stability of human walking and running in musculo-skeletal simulation. The approach taken is to approximate the whole-body dynamics of the low-dimensional Spring-Loaded Inverted Pendulum (SLIP) model of locomotion in the OpenSim environment using existing OpenSim tools. To more directly relate low-dimensional dynamic models to human simulation, an existing OpenSim human model is first modified to more closely represent bilateral above-knee amputee locomotion with passive prostheses. To increase stability further beyond the energy-conserving SLIP model, an OpenSim model based upon the Clock-Torqued Spring-Loaded-Inverted-Pendulum (CT-SLIP) model of locomotion is also created. The result of this work is that a multi-body musculo-skeletal simulation in Open-Sim can approximate the whole-body sagittal-plane dynamics of the passive SLIP model. By adding a plugin controller to the OpenSim environment, the Clock-Torqued-SLIP dynamics can be approximated in OpenSim. To change between walking and running, only one parameter representing the preferred period of a stride is changed. The result is a robustly stable simulation of the center-of-mass locomotion for both walking and running that could serve as a first step toward increasingly anatomically accurate and robustly stable musculo-skeletal simulations.
Sponsorship	Design Engineering Division Computers and Information in Engineering Division
Starting Page	681
Ending Page	687
Page Count	7
File Format	PDF
ISBN	9780791845028
DOI	10.1115/DETC2012-71473
Volume Number	Volume 3: 38th Design Automation Conference, Parts A and B
Conference Proceedings	ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2012-08-12
Publisher Place	Chicago, Illinois, USA
Access Restriction	Subscribed
Subject Keyword	Knee Prostheses Stability Control equipment Modeling Musculoskeletal system Simulation Dynamics (mechanics) Center of mass Pendulums Dynamic models Springs Clocks
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Dynamic Modeling of Knee Mechanics

Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied

A Rotary-Leg Robot Model That Predicts Both Leg Revolution and Oscillation Behavior

Advance Model for Capturing Real Life Human Gait Process

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

Design Optimization of a Novel Tripedal Locomotion Robot Through Simulation and Experiments for a Single Step Dynamic Gait

Dynamic Simulation of Human Gait Model With Predictive Capability

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

Similar Documents

Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Dynamic Modeling of Knee Mechanics

Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied

A Rotary-Leg Robot Model That Predicts Both Leg Revolution and Oscillation Behavior

Advance Model for Capturing Real Life Human Gait Process

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

Design Optimization of a Novel Tripedal Locomotion Robot Through Simulation and Experiments for a Single Step Dynamic Gait

Dynamic Simulation of Human Gait Model With Predictive Capability

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches