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Inventi Impact - Robotics

Articles

  • Inventi:erb/83/14
    IMPROVING INVERSE DYNAMICS ACCURACY IN A PLANAR WALKING MODEL BASED ON STABLE REFERENCE POINT
    Alaa Abdulrahman, Kamran Iqbal, Gannon White

    Physiologically and biomechanically, the human body represents a complicated system with an abundance of degrees of freedom (DOF). When developing mathematical representations of the body, a researcher has to decide on how many of those DOF to include in the model. Though accuracy can be enhanced at the cost of complexity by including more DOF, their necessity must be rigorously examined. In this study a planar seven-segment human body walking model with single DOF joints was developed. A reference point was added to the model to track the body’s global position while moving. Due to the kinematic instability of the pelvis, the top of the head was selected as the reference point, which also assimilates the vestibular sensor position. Inverse dynamics methods were used to formulate and solve the equations of motion based on Newton-Euler formulae. The torques and ground reaction forces generated by the planar model during a regular gait cycle were compared with similar results from a more complex three-dimensional OpenSim model with muscles, which resulted in correlation errors in the range of 0.9–0.98. The close comparison between the two torque outputs supports the use of planar models in gait studies.

    How to Cite this Article
    CC Compliant Citation: Alaa Abdulrahman, Kamran Iqbal, and Gannon White, “Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point,” Journal of Robotics, vol. 2014, Article ID 245896, 9 pages, 2014. doi:10.1155/2014/245896. Copyright © 2014 Alaa Abdulrahman et al. This article is distributed under the Creative Commons Attribution License(http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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