A wheel at the origin of the center of mass motion in human walking

NewsBot · Oct 13, 2016

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A wheel at the origin of the center of mass motion in human walking
Justin Carpentiera, Mehdi Benallegueb, Jean-Paul Laumonda
Source (full text)

The center of mass (CoM) is a key descriptor in the understanding and the
analysis of bipedal locomotion. Some approaches are based on the premise that
humans minimize the CoM vertical displacement. Other approaches express
walking dynamics though the inverted pendulum model. Such approaches are
contradictory in that they lead to two conflicting patterns to express the CoM
motion: straight line segments for the first approaches and arcs of a circle for
the second ones.
In this paper we show that CoM motion is a trade-off between both patterns.
Specifically CoM follows a ”curtate cycloid”, which is the curve described by a
point rigidly attached to a wheel rolling on a flat surface. We demonstrate that
all the three parameters defining a curtate cycloid only depend on the height of
the subjects.
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Admin2 · Oct 13, 2016

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NewsBot · Jan 23, 2023

Foot function enabled by human walking dynamics
Daniel Renjewski et al
Phys Rev E. 2022 Dec;106(6-1):064405

Bipedal walking, the habitual gait for man, is rather unique in nature and poses particular challenges for balance and propulsion. The characteristic double-humped ground reaction force profile has been widely observed but not put into functional context. We propose a mathematical model that captures the dynamics of the human foot in walking including the characteristic motion of the center of pressure. Using this model, we analyze the functional interplay of all essential biomechanical contributors to foot dynamics in walking. Our results demonstrate the intricate interplay of a self-stabilizing mechanism which allows extending a leg's stance phase while simultaneously powering rapid swing by condensing the essentials of foot dynamics into a reductionist, biomechanical model. A theory is presented which identifies the foot to be the key functional element and which explains the global dynamics of human walking. The provided insights will impact gait therapy and rehabilitation, the development of assistive devices, such as leg prostheses and exoskeletons, and provide guidelines for the design and control of versatile humanoid robots.
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