It has previously been shown that a bipedal model can be employed to simulate periodic human walking. Based on the model in ISO 5982 and bipedal model, a new bipedal model is introduced. The dynamic equation of human walking is established by means of the Lagrange equation. The mass, damping, stiffness matrices, and the force vector of the system were defined from these equations. Walking characteristics and energy change is studied. And the effects of stiffness, impact angle and walking speed are investigated. The results show that the new bipedal model can reproduce periodic walking cycle that consists of the single and double support phases. The total energy of the model is constant, which convert between the gravitational potential energy, kinetic energy and elastic potential energy. Variations in the leg stiffness, attack angle and walking speed had a substantial effect on the walking characteristics, and increase in leg stiffness had a small effect on the period and step length.
Key words
biomechanics /
bipedal model /
walking loads /
dynamic equation /
numerical simulation
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