NDLI: The strengths and weaknesses of inverted pendulum models of human walking.

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The strengths and weaknesses of inverted pendulum models of human walking.

Content Provider	World Health Organization (WHO)-Global Index Medicus
Author	McGrath, Michael Howard, David Baker, Richard
Description	Author Affiliation: McGrath M ( School of Health Sciences, University of Salford, M6 6PU Salford, UK. Electronic address: m.p.mcgrath@edu.salford.ac.uk.); Howard D ( School of Computing, Science and Engineering, University of Salford, M5 4WT Salford, UK.); Baker R ( School of Health Sciences, University of Salford, M6 6PU Salford, UK.)
Abstract	An investigation into the kinematic and kinetic predictions of two 'inverted pendulum' (IP) models of gait was undertaken. The first model consisted of a single leg, with anthropometrically correct mass and moment of inertia, and a point mass at the hip representing the rest of the body. A second model incorporating the physiological extension of a head-arms-trunk (HAT) segment, held upright by an actuated hip moment, was developed for comparison. Simulations were performed, using both models, and quantitatively compared with empirical gait data. There was little difference between the two models' predictions of kinematics and ground reaction force (GRF). The models agreed well with empirical data through mid-stance (20-40% of the gait cycle) suggesting that IP models adequately simulate this phase (mean error less than one standard deviation). IP models are not cyclic, however, and cannot adequately simulate double support and step-to-step transition. This is because the forces under both legs augment each other during double support to increase the vertical GRF. The incorporation of an actuated hip joint was the most novel change and added a new dimension to the classic IP model. The hip moment curve produced was similar to those measured during experimental walking trials. As a result, it was interpreted that the primary role of the hip musculature in stance is to keep the HAT upright. Careful consideration of the differences between the models throws light on what the different terms within the GRF equation truly represent.
File Format	HTM / HTML
ISSN	09666362
Issue Number	2
Journal	Gait & Posture
Volume Number	41
e-ISSN	18792219
Language	English
Publisher	Elsevier
Publisher Date	2015-02-01
Publisher Place	Great Britain (UK)
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Walking Discipline Orthopedics Biomechanical Phenomena Gait Models, Biological Humans Physiology Journal Article Hip Joint
Content Type	Text
Resource Type	Article
Subject	Orthopedics and Sports Medicine Rehabilitation Biophysics Sports Science

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