Sergey V. Sivolobov Mathematical modeling of human gait based on a five-link anthropomorphic mechanism using optimization methods
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https://doi.org/10.15688/mpcm.jvolsu.2024.1.5
Sergey V. Sivolobov
Associate Professor, Department of Information Systems and Computer Modeling,
Volgograd State University
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Prosp. Universitetsky, 100, 400062 Volgograd, Russian Federation
Abstract. The problem of human gait modeling is considered. A flat anthropomorphic mechanism with five weighty links describing person’s legs and body is used to describe of human locomotion. The hands movements are not considered. The control is impulse and the mechanism moves along a ballistic trajectory from the interval beginning to the end. A single-support motion with ground linked support leg is described by the model. The five generalized coordinates that describe the angles deviation in a joints from the vertical is characterized the mechanism position. To simulate a real gait, when calculating the initial angular velocities vector, to minimize the residual that guarantees the mechanism passage through all points of a given trajectory is proposed. Also, mass-inertial characteristics is determine the anthropomorphic mechanism, but the modeled person’s exact values are unknown. The characteristics values varieng by the unconstrained and constrained minimization to increase the modeling accuracy is proposed. With constrained minimization the average deviation from real angles is 7.25° . With unconstrained minimization the average error is 3.3 º , but the mass-inertial characteristics may take incorrect values.
Key words: gait modelling, human motion modelling, anthropomorphic mechanism, single-limb support model, optimization.
Mathematical modeling of human gait based on a five-link anthropomorphic mechanism using optimization methods by Sivolobov S.V., is licensed under a Creative Commons Attribution 4.0 International License.
Citation in English: Mathematical Physics and Computer Simulation. Vol. 27 No. 1 2024, pp. 62-85
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