DOI:
https://doi.org/10.14483/23448393.20333Published:
2024-01-13Issue:
Vol. 29 No. 1 (2024): January-AprilSection:
Biomedical EngineeringDynamic Model of Lower Limb Motion in the Sagittal Plane during the Gait Cycle
Modelo dinámico del movimiento del miembro inferior en el plano sagital durante el ciclo de marcha
Keywords:
Biomechanics, Euler-Lagrange, Human gait, PID control, Simulink (en).Keywords:
Biomecánica, Euler-Lagrange, Marcha humana, Control PID, Simulink (es).Downloads
References
C. A. Oatis, Kinesiology: the mechanics and pathomechanics of human movement, 2nd ed., USA: Lippincott Williams and Wilkins, 2009.
J. L. Sarmiento-Ramos, A. P. Rojas-Ariza and Y. Z. Rueda-Parra, “Dynamic model of flexion/extension and abduction/adduction of the shoulder joint complex,” in 2021 IEEE 2nd Int. Cong. Biomed. Eng. Bioeng., 2021, pp. 1-4. https://doi.org/10.1109/CI-IBBI54220.2021.9626105 DOI: https://doi.org/10.1109/CI-IBBI54220.2021.9626105
J. L. Sarmiento-Ramos and M. F. Anaya-Rojas, “Modelling, design and construction of a wrist rehabilitation exoskeleton,” Scientia et Technica, vol. 27, no. 3, pp. 177-185, Sept. 2022. https://doi.org/10.22517/23447214.24748
J. L. Sarmiento-Ramos, J. C. Suárez-Galvis and V. Grisales-Muñoz, “Exoskeleton for ankle joint flexion/extension rehabilitation,” ITECKNE, vol. 19, no. 2, art. 2773, Jun. 2022. https://doi.org/10.15332/iteckne.v19i2.2773 DOI: https://doi.org/10.15332/iteckne.v19i2.2773
J. Sun, “Dynamic modeling of human gait using a model predictive control approach,” Ph.D. dissertation, Fac. of the Grad. Sch., Marquette Univ., Milwaukee, USA, 2015. [Online]. Available: https://epublications.marquette.edu/cgi/viewcontent.cgi?referer=&httpsredir=1&article=1481&context=dissertations_mu
F. De Groote and A. Falisse, “Perspective on musculoskeletal modelling and predictive simulations of human movement to assess the neuromechanics of gait,” Proc. R. Soc. B., vol. 288, art. 2432, Mar. 2021. https://doi.org/10.1098/rpsb.2020.2432 DOI: https://doi.org/10.1098/rspb.2020.2432
Y. Xiang, J. S. Arora and K. Abdel-Malek, “Physics-based modeling and simulation of human walking: A review of optimization-based and other approaches,” Struc. Multidisc. Optim., vol. 42, pp. 1-23. 2010. https://doi.org/10.1007/s00158-010-0496-8 DOI: https://doi.org/10.1007/s00158-010-0496-8
F. L. Buczek, K. M. Cooney, M. R. Walker, M. J. Rainbow, M. C. Concha and J. O. Sanders, “Performance of an inverted pendulum model directly applied to normal human gait,” Clin. Biomech., vol. 21, no. 3, pp. 288-296, 2006. https://doi.org/10.1016/j.clinbiomech.2005.10.007 DOI: https://doi.org/10.1016/j.clinbiomech.2005.10.007
P. Sun, Y. Gu, H. Mao, Z. Chen and Y. Li, “Research on walking gait planning and simulation of a novel hybrid biped robot,” Biomimetics, vol. 8, no. 2, art. 258, 2023. https://doi.org/10.3390/biomimetics8020258 DOI: https://doi.org/10.3390/biomimetics8020258
G. Yu, J. Zhang and W. Bo, “Biped robot gait planning based on 3D linear inverted pendulum model,” IOP Conf. Ser.: Mater. Sci. Eng., vol. 301, art. 012098, 2018. https://doi.org/10.1088/1757-899X/301/1/012098 DOI: https://doi.org/10.1088/1757-899X/301/1/012098
T. Dong, D. Wang and D. Zhao, “Gait research and simulation analysis of biped robot,” in Proc. SPIE 12305 Int. Symps. Artif. Intell. App. Tech., art. 123050A, 2022. https://doi.org/10.1117/12.2645550 DOI: https://doi.org/10.1117/12.2645550
Y. Liu, S. Peng, Y. Du, and W. H. Liao, “Kinematics modeling and gait trajectory tracking for lower limb exoskeleton robot based on PD control with gravity compensation,” in Proc. 38th Chin. Ctrl. Conf., 2019, pp. 4504-4511. https://doi.org/10.23919/ChiCC.2019.8865916 DOI: https://doi.org/10.23919/ChiCC.2019.8865916
G. Marconi, A. A. Gopalai and S. Chauhan, “A triple compound pendulum model to analyze the effect of an ankle-foot orthosis on swing phase kinematics,” Med. Eng. Phys., vol. 112, art. 103951, 2023. https://doi.org/10.1016/j.medengphy.2023.103951 DOI: https://doi.org/10.1016/j.medengphy.2023.103951
M. Irine. R. Hirouji, D. Ura, K. Osuka and T. Kinugasa, “Experimental verification of the characteristic behaviors in passive dynamic walking,” Art. Life Robot., vol. 26, pp. 187 – 194, 2021. https://doi.org/10.1007/s10015-020-00670-y DOI: https://doi.org/10.1007/s10015-020-00670-y
S. Montazeri, M. Sadeghi, A. Niaty, F. Towhidkhah and S. Jafari, “The simple chaotic model of passive dynamic walking,” Nonlinear Dyn., vol. 93, no. 3, pp-1183-1199, 2018. https://doi.org/10.11007/s11071-018-4252-8 DOI: https://doi.org/10.1007/s11071-018-4252-8
E. Added, H. Gritli and S. Belghith, “Further analysis of the passive dynamics of the compass biped walker and control of chaos via two trajectory tracking approaches,” Complexity, vol. 2021, art. 5533451, 2021. https://doi.org/10.1155/2021/5533451 DOI: https://doi.org/10.1155/2021/5533451
C. Dinesh, M. Deivakani, P. Sunagar, R. Baskar, A. Kumar and G. Kalra, “Biped robot-based walking on uneven terrain: Stability and zero moment point (ZMP) analysis,” AIP Conf. Proc., vol. 2831, no. 1, art. 020013, 2023. https://doi.org/10.1063/5.0162762 DOI: https://doi.org/10.1063/5.0162762
A. Fawzi Abdul Kareem and A. Abdul Hussein Ali, “Experimental and theoretical optimal regulator control of balance zero moment point for bipedal robot,” J. Eng. Sustain. Dev., vol. 24, no. 6, pp. 68-82, 2020. https://doi.org/10.31272/jeasd.24.6.6 DOI: https://doi.org/10.31272/jeasd.24.6.6
Y. D. Hong, “Capture point-based controller using real-time zero moment point manipulation for stable bipedal walking in human environment,” Sensors, vol. 19, no. 15, art. 3407, 2019. https://doi.org/10.3390/s19153407 DOI: https://doi.org/10.3390/s19153407
B. Ren, J. Liu and J. Chen, “Simulating human-machine coupled model for gait trajectory optimization of the lower limb exoskeleton system based on genetic algorithm,” Int. J. of Adv. Robot. Sys., vol. 17, no. 1, 2020. https://doi.org/ 10.1177/1729881419893493 DOI: https://doi.org/10.1177/1729881419893493
M. A. Khan, H. Arshad, R. Damasevicius A. Alqahtani, S. Alsubai, A. Binbusayyis, Y. Nam and B. Kang, “Human gait analysis: a sequential framework of lightweight deep learning and improved moth-flam optimization algorithm,” Comput. Intell. Neurosci., vol. 2022, art. 8238375, 2022. https://doi.org/10.1155/2022/8238375 DOI: https://doi.org/10.1155/2022/8238375
J. Sun, S. Wu and P. A. Voglewede, “Dynamic simulation of human gait model with predictive capability,” ASME J. Biomech. Eng., vol. 140, no. 3, art. 031008, 2018. https://doi.org/10.1115/1.4038739 DOI: https://doi.org/10.1115/1.4038739
J. G. Juang, “Fuzzy neural network approaches for robotic gait synthesis,” IEEE Trans. Syst. Man. Cybern., vol. 30, no. 4, pp. 594-601. 2004. https://doi.org/10.1109/3477-.865178 DOI: https://doi.org/10.1109/3477.865178
M. L. Felis, K. Mombaur and A. Berthoz, “An optimal control approach to reconstruct human gait dynamics from kinematic data,” in 2015 IEEE-RAS 15th Int. Conf. Humanoid Rob., pp. 1044-1051, 2015. https://doi.org/ 10.1109/HUMANOIDS.2015.736490 DOI: https://doi.org/10.1109/HUMANOIDS.2015.7363490
T. Saidouni and G. Bessonnet, “Generating globally optimized sagittal gait cycles of a biped robot,” Robotica, vol. 41, no. 3, pp. 465-479, Jul. 2010. https://doi.org/10.1007/s00158-009-0423-z DOI: https://doi.org/10.1007/s00158-009-0423-z
D. A. Winter, Biomechanics and motor control of human movements, USA: John Wiley and Sons, Inc., 2009. DOI: https://doi.org/10.1002/9780470549148
Y. Li, C. Xu and X. Guan, “Modeling and simulation study of electromechanically system of the human extremity exoskeleton,” J. Vibroengineering, vol. 18, no. 1, pp. 551-561, Feb. 2016. [Online]. Available: https://www.extrica.com/article/16394
M. Oluwatsin, “Modelling and control of actuated lower limb exoskeletons: a mathematical application using central patterns generators and nonlinear feedback control techniques,” Ph.D. dissertation, Univ. Paris-Est Et Mstic, 2016. Available: https://tel.archives-ouvertes.fr/tel-01531927/document
G. Bovi, M. Rabuffetti, P. Mazzoleni and M. Ferrarin, “A multiple-task gait analysis approach: kinematic, kinetic and EMG reference data for healthy young and adult subjects,” Gait Post., vol. 33, no. 1, pp. 6-13, Jan. 2011. https://10.1016/j.gaitpost.2010.08.009 DOI: https://doi.org/10.1016/j.gaitpost.2010.08.009
How to Cite
APA
ACM
ACS
ABNT
Chicago
Harvard
IEEE
MLA
Turabian
Vancouver
Download Citation
License
Copyright (c) 2024 Jose Luis Sarmiento-Ramos, Andrés Felipe Meneses-Castro, Pedro José Jaimes-Mantilla

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
From the edition of the V23N3 of year 2018 forward, the Creative Commons License "Attribution-Non-Commercial - No Derivative Works " is changed to the following:
Attribution - Non-Commercial - Share the same: this license allows others to distribute, remix, retouch, and create from your work in a non-commercial way, as long as they give you credit and license their new creations under the same conditions.












