A mathematical model for the simulation of human leg dynamics

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1973

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Abstract

A mathematical model was developed to describe the motion of the human leg. The leg was modeled as a triple physical pendulum, constrained to planer motion, simulating the swing phase of walking for anatomic or prosthetic legs. Using the equations of motion, a set of applied forces was derived which reproduced a prescribed swing-phase motion for a particular set of leg properties and a particular gait. Terms were included in the model to provide damping, and geometric models of the limbs were devised to derive moments of inertia from dimensional data. The model was implemented in a computer program to provide numerical solutions for use in design optimization studies of prosthetic legs.

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