Inverse Dynamics of Bipedal Gait: The Assumption of the Center of Pressure as an Instantaneous Center of Rotation

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dc.contributor.authorCellek, Fatih
dc.contributor.authorKalaycıoğlu, Barış
dc.date.accessioned2025-01-21T16:33:51Z
dc.date.available2025-01-21T16:33:51Z
dc.date.issued2022
dc.departmentKırıkkale Üniversitesi
dc.description.abstractIn the study, an alternative 7-dof dynamical model that can be used in gait analysis of human, bipedal robots and exoskeleton systems is proposed. The dimensions and kinematic data of the model are specified on the basis of anthropometry and kinematic data of real human gait. The 7-link model consists of the trunk, two thighs, two shanks and two feet links. The movement is examined in the sagittal plane and during the single support phase (SSP). Unlike the rotation about a fixed point, it is assumed that the right foot rotates about the center of pressure (COP). The part between the COP and the tip of the toe is considered to be a passive limb which is horizontally on the ground. The effect of this part on dynamic analysis is neglected. The equations of motions are derived by applying Lagrange equations. Using the kinematic data obtained in clinical gait analysis (CGA) conducted by Winter [1], the net joint torques are calculated and then compared with CGA torque data. As a result of the comparisons, it is seen that the curves are overlapped significantly.
dc.identifier.endpage1132
dc.identifier.issn1302-0900
dc.identifier.issn2147-9429
dc.identifier.issue3
dc.identifier.startpage1123
dc.identifier.trdizinid1236245
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay1236245
dc.identifier.urihttps://hdl.handle.net/20.500.12587/23870
dc.identifier.volume25
dc.identifier.wosWOS:000999800700012
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherGazi Univ
dc.relation.ispartofJournal of Polytechnic-Politeknik Dergisi
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241229
dc.subjectBipedal gait; single support phase; joint torques; center of pressure (COP); instantaneous center of rotation(IC)
dc.titleInverse Dynamics of Bipedal Gait: The Assumption of the Center of Pressure as an Instantaneous Center of Rotation
dc.typeArticle

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