Analysis and Study of Human Joint Torque and Motion Energy during Walking on Various Grounds
It is interesting to calculate the joint torque and motion energy during human walking. In this paper, a two-link manipulator approach to human walking dynamics for estimating joint torque and motion energy is proposed. The accelerometers installed on hum
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Abstract. It is interesting to calculate the joint torque and motion energy during human walking. In this paper, a two-link manipulator approach to human walking dynamics for estimating joint torque and motion energy is proposed. The accelerometers installed on human limbs measure the angle of time-sequent trajectories used to estimate joint torque and motion energy based on the approach dynamic equations. However, the joint torque and motion energy estimated by dynamic equations are very sensitive to their parameters such as link length and weight. It is hard to have accurate limb length and weight. The study can not measure absolute scale of the torque and energy, but only focuses on the comparison of walking on six different grounds, and the difference between left and right legs. Experiments of taking a load during walking are also included. Keywords: Accelerometer; Torque; Human Walking.
1 Introduction The analysis of walking gait is helpful to understand the joint torque and motion energy of a human walking. Such study often used to improve the walking of disable or old people [1, 2, 3]. In the recent years, the walking gait analysis makes use of many different methods. Using vision detects and records the markers pasted on human limbs [4]. Using accelerometers and gyroscope installed on the center of limb mass measures the human motion [1, 2, 5, 6]. Goniometer and ultrasound corrects the measurement of human walking [3, 4]. Using force sensor measures the soles during human walking. However, the facilities for human walking gait analysis are hard to apply to any place. They only applied in ideal environments such as laboratory. They are not easy to apply to the walking gait analysis in human daily life. Thus, in this paper using accelerometers to design portable and simple motion storage for human walking is proposed. For calculating the joint torque and motion energy, the human walking is approached to two-link manipulation. The dynamic equation of two-link manipulation is derived to calculate the torque spent by ankle and waist. However, the dynamics is very sensitive to parameter variation. Consequently, the accurate ankle *
This research was supported by National Science Council, Taiwan, Rep. of China under grant NSC 97-2221-E-327-019-.
P. Vadakkepat et al. (Eds.): FIRA 2010, CCIS 103, pp. 73–81, 2010. © Springer-Verlag Berlin Heidelberg 2010
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K.-Y. Tu and W.-C. Lee
and waist torque of human walking is hard to use the derived dynamics. Hence, the study of human walking only focuses on the comparison of ankle and waist torque wasted on various grounds. Experiments for the human walking on six different planes are thus included.
2 Two-Link Manipulation Approach to Human Walking Dynamics The human walking dynamics is complicated and hard to derive. In this paper, twolink approach to the human walking dynamics is proposed. In this section, the walking of a human is first presented by some definition. Next, the reasonableness of the human walking dynamics approached to two-link manipulation is revea
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