Analysis of human walking gait process and solution of the lower limb joint moment
by Jun Yu; Shuaishuai Zhang; Aihui Wang; Wei Li
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 9, No. 4, 2022

Abstract: It is difficult to measure the characteristics of human limbs during movement, which leads to the complexity and inaccuracy of solving the mechanical properties of the joints. However, these unknown variables are essential for designing exoskeleton robots and cannot be ignored. Therefore, a rod model of the lower limb is identified in this paper, the different stages of human gait are discussed, and the interaction between the feet and the ground during human walking is analysed in detail. On this basis, the joint moment of lower limbs is deduced. Furthermore, inverse dynamic, net joint force, and moments for human lower limb joints are analysed theoretically. Finally, the principle of the high-fidelity Hill model is investigated, which verifies the feasibility and effectiveness of solving the net force and moment for human lower limb joints based on the plantar reaction force under certain circumstances theoretically. The research results of this paper will contribute to the field of lower limb exoskeleton robots and human lower limb prostheses.

Online publication date: Tue, 31-May-2022

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