A Human Bipedal Walking Model Simulating Characteristics Of The Actuated Leg

Purpose The purpose of this study is to use the mathematical model to simulate characteristics of muscle force of the human body when walking stably.By solving the kinematic equation of this model,we can explore how the human body achieves the balance of muscle energy supply and consumption in each step in order to achieve the purpose of stable walking.Methods In order to explore the process of human stable walking,based on the walking research of Jeffrey and Chang et al,we extracted local devices of their models.And we proposed that the model simulating human walking needs to be equipped with actuated force device and energy consumption device.On this basis,we established the human walking model with center of pressure,leg actuated power device and leg energy consumption device.At the same time,during the research,the kinematic equation of the walking model is established and the kinematic parameters of the model are calculated which include the length of legs,velocity,the angle between the leg and ground and the angular velocity of leg rotation.By the method of control variates,we change the actuated force,the damping and stiffness to simulate the process of the energy supply and consumption of the model during walking.GRF data of the model is compared with ones of the previous experiments and other similar models.Periodic GRF data of the model are taken as the standard of stable walking.And in terms of the energy,the balance of energy supply and consumption of the model is the other standard to estimate the stable walking.Results In this study,when GRF data of the model are equal to ones of experiments,it achieves the balance of the energy supply and consumption.At the same time,the walking velocity is within the normal range.The walking period is mainly influenced by the stiffness,the energy consumption is mainly influenced by the damping,and the amplitude of actuated power mainly affects peak values of GRF.Conclusions By adjusting the force of legs,we achieve the balance of the supply and consumption of energy in each step.And then the model can walk within the normal velocity(0.8-1.6m/s).The simulated walking data can help us to understand the dynamic process of the human during walking.At the same time,these data can also be applied to the research and design of biped robots in the future.