Dynamics Analysis for Human Lower Limb Based on Newton-Euler Equation
Liang Guoxing
Liang Yu-hang
Li Zhili
Ren Qichao
Du Kang
Abstract：Objective The human lower limb dynamics equations were established to solve the dynamics and kinemics parameters at the joint in different gaits.Methods Based on the Newton-Euler dynamics mechanism,the dynamics equations for the lower limb were modeled to calculate the joint torque.According to the body parameters,the thigh length,the shank length and their mass and the center of the mass were obtained.The Vicon 3D equipment was applied to acquire the movement parameters in different gaits.The revolution curves of the hip-joint angle,the knee-joint angle were descripted in the paper.To run the established equations with the mined data in the trails,the values of torque in each joint were calculated by Matlab software.By comparing the joint peak torque between the dynamics calculation and the ADAMS simulation,the correctness of the equation was verified.Results The torque evolutions of the hip and knee joint in two different gaits were disclosed.Conclusion Through the calculation of human lower limb dynamics equations,the joint torques at different modes were solved precisely,which may provide a reference for defining the joint torque parameters of the exoskeleton.
Keywords：Newton-Euler dynamic equationtwo-link dynamic equationMatlab calculationlower limb torque
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 411-417 )