A fast inverse dynamics model of walking for use in optimisation studies

Salehi, S; Ren, L; Howard, D

Abstract

Computer simulation of human gait, based on measured motion data, is a well-established technique in biomechanics. However, optimisation studies requiring many iterative gait cycle simulations have not yet found widespread application because of their high computational cost. Therefore, a computationally efficient inverse dynamics model of 3D human gait has been designed and compared with an equivalent model, created using a commercial multi-body dynamics package. The fast inverse dynamics model described in this paper led to an eight fold increase in execution speed. Sufficient detail is provided to allow readers to implement the model themselves.

Citation

Salehi, S., Ren, L., & Howard, D. (2016). A fast inverse dynamics model of walking for use in optimisation studies. Computer Methods in Biomechanics and Biomedical Engineering, 19(11), 1201-1209. https://doi.org/10.1080/10255842.2015.1124267

• Journal Article Type: Article
• Acceptance Date: Nov 21, 2015
• Publication Date: Jan 8, 2016
• Deposit Date: Dec 15, 2015
• Publicly Available Date: Jan 8, 2017
• Journal: Computer Methods in Biomechanics and Biomedical Engineering
• Print ISSN: 1025-5842
• Electronic ISSN: 1476-8259
• Publisher: Taylor and Francis
• Volume: 19
• Issue: 11
• Pages: 1201-1209
• DOI: https://doi.org/10.1080/10255842.2015.1124267
• Publisher URL: http://dx.doi.org/10.1080/10255842.2015.1124267
• Related Public URLs: http://www.tandfonline.com/toc/gcmb20/current