Virtual Slope Control of a Forward Dynamic Bipedal Walker

[+] Author and Article Information
S. Russell, K. P. Granata

Musculoskeletal Biomechanics Laboratory, Department of Engineering Science and Mechanics, School of Biomedical Engineering and Science, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061

P. Sheth

Department of Mechanical Engineering, University of Virginia, Charlottesville VA, 22904

J Biomech Eng 127(1), 114-122 (Mar 08, 2005) (9 pages) doi:10.1115/1.1835358 History: Received June 18, 2003; Revised July 28, 2004; Online March 08, 2005
Copyright © 2005 by ASME
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A comparison of actual and predicted stride lengths, initial stance angle, and average HAT velocity at various slopes while walking along a level surface
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Diagram and anthropometry of walking model
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Hip and ankle joint angles associated with a virtual slope of 1.5 deg along a level surface. The piecewise resetting of angles at foot-strike is shown. Four strides are shown in the figure.
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Hip joint torque normalized to max torque, one stride illustrated. Walking simulated along the level surface with various virtual slopes.
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Ankle joint torque normalized to maximum torque. One stride illustrated. Walking simulated along a level surface with the active virtual slope labeled.
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Maximum eigenvalues calculated for various perturbation magnitudes applied to the walker simulating a virtual slope of 1.5 deg.
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Stride length and associated walking velocity can be controlled by the virtual slope coefficient of the active controller. Starting from a steady state walking pattern with a virtual slope of 2.0, the stride length can be adjusted (at foot-strike of arbitrary step 4) and the simulation converges on a new stride length.



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