Model and dynamic analysis in the process of walking

Abstract

An experiment was designed to record the motion information of all the joints of the lower limbs in this paper. The law of angular change of joints was studied with the fitting function curve and then verified by a musculoskeletal simulation tool OpenSim. The number of sensors for data measurements is reduced using the law and the cost for sensors is reduced correspondingly. A kinetic model of the lower limbs during walking was established, according to the actual posture of human movement in this paper. Based on the Lagrange equation the required joint torque was calculated according to the information of angle, angular velocity and angular acceleration of lower limbs' joints. A reference for the design of rehabilitation devices and the control strategy for humanoid robot is provided.