Abstract
Dynamic models, such as double pendulums, can generate similar dynamics as human limbs. They are versatile tools for simulating and analyzing the human walking cycle and performance under various conditions. They include multiple links, hinges, and masses that represent physical parameters of a limb or an assistive device. This study develops a mathematical model of dissimilar double pendulums that mimics human walking with unilateral gait impairment and establishes identical dynamics between asymmetric limbs. It introduces new coefficients that create biomechanical equivalence between two sides of an asymmetric gait. The numerical solution demonstrates that dissimilar double pendulums can have symmetric kinematic and kinetic outcomes. Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices.
Highlights
Human walking is a complex dynamical system
Parallel solutions with different physical parameters but similar biomechanical coefficients enable interchangeable designs that could be incorporated into gait rehabilitation treatments or alternative prosthetic and ambulatory assistive devices
Developing mathematical models of human walking can play a critical role in discovering new possibilities for healthcare, rehabilitation, and testing many configurations that may not be possible in real experiments [1,2]
Summary
Human walking is a complex dynamical system. It involves many internal forces and torques that are applied through multiple muscles and joints to create a desired walking trajectory. Developing mathematical models of human walking can play a critical role in discovering new possibilities for healthcare, rehabilitation, and testing many configurations that may not be possible in real experiments [1,2]. Gait is affected by both internal and external factors. The internal factors include parameters such as limb lengths and distribution of mass in the musculoskeletal system. The external factors can significantly affect the walking performance, such as the slope of the ground, assistive devices, or external stimuli. Reviewing the the field of simulating human walking reveals different physical-based
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