Empowering human-like walking with a bio-inspired gait controller for an under-actuated torque- driven human model.

Abstract

Human gait simulation plays a crucial role in providing insights into various aspects of locomotion, such as diagnosing injuries and impairments, assessing abnormal gait patterns, and developing assistive and rehabilitation technologies. To achieve more realistic gait simulation results, it's essential to use a comprehensive model that accurately replicates the kinematics and kinetics of human movement. The human skeletal models in OpenSim software provide anatomically accurate and anthropomorphic structures, enabling users to create personalized models that accurately replicate individual human behavior. However, these torque-driven models encounter challenges in stabilizing unactuated degrees of freedom of pelvis tilt during forward dynamic simulations. Adopting a bio-inspired strategy that ensures human balance with a minimized energy expenditure during walking, this paper addresses a gait controller for a torque-deriven human skeletal model to achieve a stable walking. The proposed controller employs a nonlinear model-based approach to calculate a balance-equivalent control torque and utilizes the hip-ankle strategy to distribute this torque across the lower-limb joints during the stance phase. To optimize the parameters of the trajectory tracking controller and the balance distribution coefficients, we used a forward dynamic simulation interface established between MATLAB and OpenSim. The simulation results show that the torque-driven model achieves a natural gait, with joint torques closely aligning with the experimental data. The robustness of the bio-inspired gait controller is also assessed by applying a range of external forces on the skeletal model to investigate its response to disturbances. The robustness analysis demonstrates the quick and effective balance recovery mechanism of the proposed bio-inspired gait controller.