NDLI: Human gait modeling: dealing with holonomic constraints

Content Provider	IEEE Xplore Digital Library
Author	Tingshu Hu Zongli Lin Abel, M.F. Allaire, P.E.
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA (Tingshu Hu; Zongli Lin)
Abstract	Dynamical models are fundamental for the study of human gait. This work presents a complete and systematic approach to deriving control system models for both the single support phase and the double support phase of a gait cycle. We consider a nine segment model in the sagittal plane. Emphasis is placed on two important aspects of the modeling process: dealing with the holonomic constraints and dealing with the ground reaction forces. We start with a raw model which is a direct result of Newton's law and which is subject to holonomic constraints. By characterizing the ground reaction forces, these constraints are eliminated to generate standard control system models for every possible situation in a gait cycle. These models are verified via both inverse dynamics and forward simulations on experimental data.
Sponsorship	American Automatic Control Council IFAC
Starting Page	2296
Ending Page	2301
File Size	441165
Page Count	6
File Format	PDF
ISBN	0780383354
ISSN	07431619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Humans Legged locomotion Muscles Orthopedic surgery Stability Joints Control system synthesis Leg Character generation Force control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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