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Optimization-based dynamic 3D human running prediction: effects of foot location and orientation

Published online by Cambridge University Press:  04 March 2014

Hyun-Joon Chung ,
Yujiang Xiang ,
Jasbir S. Arora  and
Karim Abdel-Malek
Hyun-Joon Chung
Affiliation:
Center for Computer-Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USA
Yujiang Xiang*
Affiliation:
Department of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks, AK 99775, USA
Jasbir S. Arora
Affiliation:
Center for Computer-Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USA
Karim Abdel-Malek
Affiliation:
Center for Computer-Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USA
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents optimization-based dynamic three-dimensional (3D) human running prediction. A predictive dynamics method is used to formulate the running problem, and normal running is formulated as a symmetric and cyclic motion. In addition, a slow jog along curved paths has been formulated. It is a non-symmetric running motion, so a stride formulation has been used. The dynamic effort and impulse are used as the performance measure, and the upper body yawing moment is also included in the performance measure. The joint angle profiles and joint torque profiles are calculated for the full-body human model, and the ground reaction force is determined. The effects of foot location and orientation on the running motion prediction are simulated and studied. Simulation results from this methodology show good correlation with experimental data obtained from human subjects.

Keywords

RunningSlow jogImpulseArm swingOptimization
Type
Articles
Information
Robotica , Volume 33 , Issue 2 , February 2015 , pp. 413 - 435
Copyright
Copyright © Cambridge University Press 2014 

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