Bipedal spring-damper-mass model reproduces external mechanical power of human walking

Ettore Etenzi, Vito Monaco

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Previous authors have long investigated the behavior of different models of passive walkers with stiff or compliant limbs [1], [2]. We investigated a model of bipedal mechanism whose limba are provided with damping and elastic elements. This model is designed for walking along an inclined plane, in order to make up the energy lost due to the damping element with that gained thanks to the lowering the CoM. The proposed model is hence able to steadily walk. In particular we investigated the stability of this model by using the Poincaré return map for different dynamical configurations. Then we compared the estimated external mechanical power with experimental data from literature in order to validate the model. Results show that the model is able to reproduce the main features of the time course of the external mechanical power during the gait cycle. Accordingly, dissipative elements coupled with limbs' compliant behavior represent a suitable paradigm, to mimic human locomotion.

Original languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2446-2449
Number of pages4
Volume2015-November
ISBN (Print)9781424492718
DOIs
Publication statusPublished - Nov 4 2015
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: Aug 25 2015Aug 29 2015

Other

Other37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
CountryItaly
CityMilan
Period8/25/158/29/15

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

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  • Cite this

    Etenzi, E., & Monaco, V. (2015). Bipedal spring-damper-mass model reproduces external mechanical power of human walking. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (Vol. 2015-November, pp. 2446-2449). [7318888] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2015.7318888