Abstract—A modified method for identifying dynamic model of the human lower limb during complete gait cycle was developed in this paper. The model was based on two dimensional modeling of the human lower limb; the equations of motion were derived using Euler-Lagrange method and energy approach. The lower limb is simulated as a three link robotic manipulator (thigh, shank and foot), the force plate reaction forces were performed as external forces acted on the contact point between foot and the ground. The foot is simulated as two right angle triangles where the point of contact and the angle of contact of the foot were varied as a function of time from heel strike point to the toe off point of the foot. Therefore in this analysis we have the variation of four angles namely thigh, knee, ankle and foot. Also we considered the variation of the foot length and the angle between the line of action and the vertical line from ankle joint with the variation of the reaction forces from heel strike to toe off points along the gait cycle.

Index Terms—Dynamic model, Human lower limb, Euler-lagrange method.

Cite: S M Nacy, S S Hassan, and M Y Hanna, "A Modified Dynamic Model of the Human Lower Limb during Complete Gait Cycle," International Journal of Mechanical Engineering and Robotics Research, Vol. 2, No. 2, pp. 8-19, April 2013.