Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point
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...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/245896 |
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| _version_ | 1849473058003222528 |
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| author | Alaa Abdulrahman Kamran Iqbal Gannon White |
| author_facet | Alaa Abdulrahman Kamran Iqbal Gannon White |
| author_sort | Alaa Abdulrahman |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-dbc142f477fd4c048d75ff2078a07158 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-dbc142f477fd4c048d75ff2078a071582025-08-20T03:24:20ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/245896245896Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference PointAlaa Abdulrahman0Kamran Iqbal1Gannon White2Department of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USADepartment of Systems Engineering, College of Engineering and Information Technology, UALR, AR 72204, USADepartment of Health, Human Performance, and Sport Management, College of Science, UALR, AR 72204, USAPhysiologically 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.http://dx.doi.org/10.1155/2014/245896 |
| spellingShingle | Alaa Abdulrahman Kamran Iqbal Gannon White Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point Journal of Robotics |
| title | Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point |
| title_full | Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point |
| title_fullStr | Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point |
| title_full_unstemmed | Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point |
| title_short | Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point |
| title_sort | improving inverse dynamics accuracy in a planar walking model based on stable reference point |
| url | http://dx.doi.org/10.1155/2014/245896 |
| work_keys_str_mv | AT alaaabdulrahman improvinginversedynamicsaccuracyinaplanarwalkingmodelbasedonstablereferencepoint AT kamraniqbal improvinginversedynamicsaccuracyinaplanarwalkingmodelbasedonstablereferencepoint AT gannonwhite improvinginversedynamicsaccuracyinaplanarwalkingmodelbasedonstablereferencepoint |