A Control Driven Model for Human Locomotion
This article concerns the modeling of human locomotion with a view to the design of advanced control systems that are capable of supporting natural mobility, and, thus, promoting inclusivity and quality of life.
The complexity of the model (i.a. degrees of freedom and motion planes taken into consideration) was carefully chosen to include the relevant features of the motion dynamics while remaining as simple as possible. The outcome is a model composed by three components (stance leg, swing leg and trunk) that are articulated to achieve balanced motion patterns in both transitory and periodic contexts. Each leg has 3 links connected by pitch joints and the trunk has a single link.
Significant attention was dedicated to the generation of natural (human-like) motion references, in order to achieve a safe and anthropomorphically correct motion that respects the human joints’ constraints and can be adjusted to the multiple daily-life situations.
KeywordsAssistive robotics Human locomotion modeling Hybrid systems Adaptative control systems
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