Fig. 1
From: Simulation of human gait with body weight support: benchmarking models and unloading strategies
The three gait models considered in this paper: (1) Simplest Walking (SW) model [21] where M is the mass of the body, m of each foot and m is assumed to be negligible as compared to M, θ is the stance leg angle w.r.t. to vertical, yc is the vertical position of the centre of mass and ϕ is the swing leg angle w.r.t to the stance leg. Details of the actuation principles from [30] are not shown here. (2) Spring-loaded inverted pendulum (SLIP) model [22] where m is the mass of the body, l is the original leg length, α is the angle-of-attack, yc is the vertical position of the centre of mass, k is the stiffness of the leg spring and FP is the foot point of the stance spring. (3) Muscle-reflex (MR) model [23] where point A represents the centre of mass of the upper body, yHAT is the vertical position of this centre of mass and mHAT is the mass of the upper body. For all three models, the vertical unloading force Fu is applied at point A. Gait models considered in the paper - filename: figure1.eps