Four rigid-body model for human walking and its walking load analysis

Abstract

In order to simulate the mechanical behavior of the human body during walking, the multiple-rigid-body model was used to simplify the human bipedal walking behavior, and a four-rigid body, four-degrees-of-freedom human body dynamic model was established. The dynamic equation of motion during the swing phase of the dynamic system was derived using Euler-Lagrange equation. In order to mimic the real human locomotion behavior, the Bézier curve was used to plan the trajectory of the driving degree-of-freedom, and the multiple degrees-of-freedom equations of motion was simplified into a single degree-of-freedom system which was solved as a boundary value problem. The numerical simulation results were compared with the actual test and the load model, reasonable feasibility was verified.