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Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point
Joint Authors
Abdulrahman, Alaa
Iqbal, Kamran
White, Gannon
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-02-06
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Abdulrahman, Alaa& Iqbal, Kamran& White, Gannon. 2014. Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point. Journal of Robotics،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042868
Modern Language Association (MLA)
Abdulrahman, Alaa…[et al.]. Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point. Journal of Robotics No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1042868
American Medical Association (AMA)
Abdulrahman, Alaa& Iqbal, Kamran& White, Gannon. Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042868
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042868