Effects of hip torque during step-to-step transition on center-of-mass dynamics during human walking examined with numerical simulation

Hao，Ming1; Chen，Ken1; Fu，Chenglong2

2019-06-11

10.1016/j.jbiomech.2019.04.025

JOURNAL OF BIOMECHANICS   影响因子和分区

0021-9290

1873-2380

Besides the leg force actuator, humans also use a hip torque actuator during the step-to-step transition to redirect the velocity of CoM (Center of Mass). Although the leg force actuator has been widely studied, few researches analyze the hip torque actuator during the step-to-step transition. In this paper, we build a powered walking model which consists of a point mass linked with two compliant legs. Each leg has a spring and a damper in parallel. Two types of active actuators, the force actuator on the leg and the torque actuator at the hip, are added to simulate the leg force and hip torque actuator during the step-to-step transition. The cycle walk is solved by numerical simulations under different hip torque strength, and the energetics and stability are evaluated. The simulation results show that the hip torque actuator can reduce the energy cost and improve the stability of walking. Further analysis shows that the hip torque actuator can reduce mechanical works of both legs with small extra energy cost. To understand the principle of hip torque actuator, the CoM dynamics is analyzed. It is shown that the hip torque actuator is efficient on the redirection of CoM. Thus, it can improve the stability and reduce required forces of both legs, which decreases the energy cost. Our work provides a fundamental understanding of the hip torque during the step-to-step transition, and may help improve the design of bipedal robots and prosthesis.

Energetics Hip torque Human walking Powered walking model Stability Step-to-step transition

EI ; SCI

英语

通讯

[2018YFB1305400] ; National Natural Science Foundation of China[U1613206] ; Guangdong Innovative and Entrepreneurial Research Team Program[2016ZT06G587]

Biophysics ; Engineering

Biophysics ; Engineering, Biomedical

WOS:000546645600005

Elsevier Ltd

20191806850787

Convergence of numerical methods ; Cost benefit analysis ; Cost reduction ; Machine design ; Numerical models ; Stability ; Torque

Mechanical Design:601 ; Control Equipment:732.1 ; Cost and Value Engineering; Industrial Economics:911 ; Mathematics:921 ; Numerical Methods:921.6 ; Physical Properties of Gases, Liquids and Solids:931.2

MOLECULAR BIOLOGY & GENETICS

2-s2.0-85064808108

Scopus

1.Department of Mechanical EngineeringTsinghua University,Beijing,100084,China
2.Department of Mechanical and Energy EngineeringSouthern University of Science and Technology,Shenzhen,518055,China

Hao，Ming,Chen，Ken,Fu，Chenglong. Effects of hip torque during step-to-step transition on center-of-mass dynamics during human walking examined with numerical simulation[J]. JOURNAL OF BIOMECHANICS,2019,90:33-39.

Hao，Ming,Chen，Ken,&Fu，Chenglong.(2019).Effects of hip torque during step-to-step transition on center-of-mass dynamics during human walking examined with numerical simulation.JOURNAL OF BIOMECHANICS,90,33-39.

Hao，Ming,et al."Effects of hip torque during step-to-step transition on center-of-mass dynamics during human walking examined with numerical simulation".JOURNAL OF BIOMECHANICS 90(2019):33-39.