spacer gif spacer gif spacer gif spacer gif spacer gif
QUICK SEARCH:   [advanced]


spacer gif
     Home     Help     Feedback     Subscriptions     Archive     Search     Table of Contents    

Right arrow Help viewing high resolution images
Right arrow Return to article

(Downloading may take up to 30 seconds.
If the slide opens in your browser, select File -> Save As to save it.)
Click on image to view larger version.


Figure 2


Fig. 2. Work performed on COM as a function of foot radius of curvature {rho}, from various dynamic walking models. Models are powered by push-off to walk on level ground: the `Simplest Model' (SM) with point mass pelvis and feet (Kuo, 2001), the `Anthropomorphic Model' (AM) with human-like mass distribution (Kuo, 2001), the `Forward-foot Model' (FM) with feet facing forward from the legs, and the `Kneed Model' (KM) with knees and forward feet (after McGeer, 1990b). All simulations generally predict decreasing step-to-step transitions with increasing arc foot radius, roughly in proportion to (1–{rho})2 as in Eqn 7. However, FM and KM have a slight upward trend for larger values of {rho}, due to different foot geometry and introduction of knees. The SM is used as a prediction for experimental results. Over the range of arc radii studied experimentally, all other models match the trend of Eqn 7 reasonably well, with r2 ranging 0.940–0.998.





Right arrow Return to article