Simulation of Human Gait Movements

Simulation of Human Gait Movements

  • Vu Trieu Minh
  • Mart Tamre Professor
  • Victor Musalimov Professor
  • Pavel Kovalenko Associate professor
  • Irina Rubinshtein Researcher
  • Ivan Ovchinnikov Researcher
  • Reza Moezzi Researcher
Keywords: Human gait model; human gait plant; central nervous system; model predictive control; 5-link mechanism; motion capture system

Abstract

Human motion is a complex activity of the central nervous system (CNS) and muscles. Performance of a human motion can be decomposed into three components: estimation of trajectory; calculation of required signal for muscles; and performance of movement. The CNS conducts the first two tasks and the muscles perform the third task. This paper presents the development of a mathematical model and a Matlab Simulink plant for human gait movement. An internal model predictive control (MPC) is setup and plays as the human CNS to estimate the trajectory and to calculate the required signal for muscles to perform the movement. MPC calculates the required torques for each joint and generate optimal trajectories subject to human physical constraints for muscles. Results of simulation are analyzed and compared to the real human gait motions captured by a real motion capture system (Vicon). Finally, conclusions and recommendations from this research are withdrawn.

Author Biographies

Mart Tamre, Professor

Department of Electrical Power Engineering and Mechatronics

Tallinn University of Technology, Estonia

Victor Musalimov, Professor

Department of Mechatronics

Saint Petersburg State University of Information Technologies, Mechanics and Optics, Russia

Pavel Kovalenko, Associate professor

Department of Mechatronics

Saint Petersburg State University of Information Technologies, Mechanics and Optics, Russia

Irina Rubinshtein, Researcher

Department of Mechatronics

Saint Petersburg State University of Information Technologies, Mechanics and Optics, Russia

Ivan Ovchinnikov, Researcher

Department of Mechatronics

Saint Petersburg State University of Information Technologies, Mechanics and Optics, Russia

Reza Moezzi, Researcher

Institute for Nanomaterials, Advanced Technologies and Innovation

Technical University of Liberec, Czech Republic

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Published
2020-01-07
How to Cite
Minh, V. T., Tamre, M., Musalimov, V., Kovalenko, P., Rubinshtein, I., Ovchinnikov, I., & Moezzi, R. (2020). Simulation of Human Gait Movements. International Journal of Innovative Technology and Interdisciplinary Sciences, 3(1), 326-345. https://doi.org/10.15157/IJITIS.2020.3.1.326-345