Biomedical Engineering Reference
In-Depth Information
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FIGURE 7.16
The diagram of optimized cyclic walking motion (two strides).
ground. The arms swing to balance the leg swing. The continuity condition is sat-
isfied to generate smooth walking motion where the initial and final postures are
also optimized. The ZMP location is also plotted in the figure and it stays in the
foot support polygon to satisfy the dynamic balance condition. It is important to
note that the spine keeps upright automatically to reduce energy expenditure of
the walking motion.
7.11.1.1
Kinematics
There are six well-known kinematic variables (angles and displacements) that
have been established as the determinants of forward walking (
Saunders et al.,
1953
). These determinants correspond to the lower extremities and pelvic motion
as follows:
a.
Hip flexion/extension
b.
Knee flexion/extension
c.
Ankle plantar/dorsiflexion
d.
Pelvic tilt
e.
Pelvic rotation
f.
Lateral pelvic displacement.
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