Low-dimensional sagittal plane model of normal human walking.

  title={Low-dimensional sagittal plane model of normal human walking.},
  author={Soundararajan Srinivasan and Ioannis A. Raptis and Eric R. Westervelt},
  journal={Journal of biomechanical engineering},
  volume={130 5},
This paper applies a robotics-inspired approach to derive a low-dimensional forward-dynamic hybrid model of human walking in the sagittal plane. The low-dimensional model is derived as a subdynamic of a higher-dimensional anthropomorphic hybrid model. The hybrid model is composed of models for single support (SS) and double support (DS), with the transition from SS to DS modeled by a rigid impact to account for the impact at heel-contact. The transition from DS to SS occurs in a continuous… CONTINUE READING
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