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Research Papers

Dynamic Simulation of Human Gait Model With Predictive Capability

[+] Author and Article Information
Jinming Sun

General Motors Company,
Milford, MI 48380
e-mail: jinming.sun@gm.com

Shaoli Wu

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: shaoli.wu@marquette.edu

Philip A. Voglewede

Department of Mechanical Engineering,
Marquette University,
Milwaukee, WI 53233
e-mail: philip.voglewede@marquette.edu

1Corresponding author.

Manuscript received September 21, 2015; final manuscript received November 19, 2017; published online January 18, 2018. Assoc. Editor: Paul Rullkoetter.

J Biomech Eng 140(3), 031008 (Jan 18, 2018) (9 pages) Paper No: BIO-15-1475; doi: 10.1115/1.4038739 History: Received September 21, 2015; Revised November 19, 2017

In this paper, it is proposed that the central nervous system (CNS) controls human gait using a predictive control approach in conjunction with classical feedback control instead of exclusive classical feedback control theory that controls based on past error. To validate this proposition, a dynamic model of human gait is developed using a novel predictive approach to investigate the principles of the CNS. The model developed includes two parts: a plant model that represents the dynamics of human gait and a controller that represents the CNS. The plant model is a seven-segment, six-joint model that has nine degrees-of-freedom (DOF). The plant model is validated using data collected from able-bodied human subjects. The proposed controller utilizes model predictive control (MPC). MPC uses an internal model to predict the output in advance, compare the predicted output to the reference, and optimize the control input so that the predicted error is minimal. To decrease the complexity of the model, two joints are controlled using a proportional-derivative (PD) controller. The developed predictive human gait model is validated by simulating able-bodied human gait. The simulation results show that the developed model is able to simulate the kinematic output close to experimental data.

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Figures

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Fig. 1

Seven-link and six-joint gait model

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Fig. 6

Control algorithm of the entire system

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Fig. 5

Internal MPC model for DSP

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Fig. 4

Internal MPC model for SSP

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Fig. 3

Block diagram of MPC

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Fig. 7

Sagittal plane knee joints—simulation versus experimental data

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Fig. 8

Moment of knee joints—simulation versus experimental data

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