Modelling of Biological Lower Extremity
- Resource Type
- Conference
- Authors
- Shiny, S; Shihabudheen, K V; Gopinath, Anish
- Source
- 2019 2nd International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT) Intelligent Computing, Instrumentation and Control Technologies (ICICICT), 2019 2nd International Conference on. 1:1468-1473 Jul, 2019
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Photonics and Electrooptics
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Gait analysis
Kinematics
Modelling
Lagrangian Formulation
Virtual work
Joint Torque
- Language
The work done in this paper is an effort to study the leg movements during walking in order to motivate the design of biological leg efficiently and modelling of biological leg. Hypothesize that the leg comprising of two links represents femur and shank. For modelling, the biological leg is treated as a serial two link manipulator. The leg modelling is done using inverse dynamics with Lagrangian formulation approach and merged some virtual work concept to incorporate the ground reaction forces occurs in the gait cycle. For the development of the parameters, the data acquired is processed through mathematical equations using MATLAB/SIMULINK tool for precision and reliability. Leg model is constructed using different kinematic and kinetic input from gait experiments to provide output in the form of knee and hip torque. Complete and simplified model is introduced and determined torque is validated with experimental data.