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An actuated dissipative spring-mass walking model: Predicting human-like ground reaction forces and the effects of model parameters.

Abstract：

:Simple models are widely used to understand the mechanics of human walking. The optimization-based minimal biped model and spring-loaded-inverted-pendulum (SLIP) model are two popular models that can achieve human-like walking patterns. However, ground reaction forces (GRF) from these two models still deviate from experimental data. In this paper, we proposed an actuated dissipative spring-mass model by integrating these two models to realize more human-like GRF patterns. We first explored the function of stiffness, damping, and weights of both energy cost and force cost in the objective function and found that these parameters have distinctly different influences on the optimized gait and GRF profiles. The stiffness and objective weight affect the number and size of peaks in the vertical GRF and stance time. The damping changes the relative size of the peaks but has little influence on stance time. Based on these observations, these parameters were manually tuned at three different speeds to approach experimentally measured vertical GRF and the highest correlation coefficient can reach 0.983. These results indicate that the stiffness, damping, and proper objective functions are all important factors in achieving human-like motion for this simple walking model. These findings can facilitate the understanding of human walking dynamics and may be applied in future biped models.

journal_name

J Biomech

journal_title

Journal of biomechanics

authors

Li T,Li Q,Liu T

doi

10.1016/j.jbiomech.2019.04.028

subject

Has Abstract

pub_date

2019-06-11 00:00:00

pages

58-64

eissn

0021-9290

issn

1873-2380

pii

S0021-9290(19)30292-1

journal_volume

90

pub_type

杂志文章

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