Forward dynamic modeling of human locomotion

ABSTRACTFORWARD DYNAMIC MODELING OF HUMAN LOCOMOTION ByJames Lanphier PattonThe purpose of this thesis was to investigate the prospects ofpredictive modeling of human motion. Using measured motions withmeasured ground reaction forces and moments, an inverse dynamic modelcan determine time histories of the internal (joint) forces and moments.These forces and moments can be used to drive a dynamic synthesis ofmotion. If the original measured motions are obtained, the model can beused in a predictive manner to study parametric changes.Initial investigations found full-body three-dimensional models toocomplex and problematic. Therefore, two simple models were developedin two-dimensions, the first a single rigid body, and the second a threesegment model of the leg. It was found that stabilizing elements, such asjoint torsional springs and torsional dampers, were necessary in order toachieve stable gait simulations. In order to obtain motions closer tomeasured, control strategies may be required.