An Inverse Dynamical Model for Slip Gait

Abstract

A inverse dynamical model for slip gait developed by using Kane’s method of dynamics is described in this paper. The modeling was based on two separate sub-systems: anti-slip and anti-fall. Both sub-systems were modeled as an open kinematic chain and formulated using the same equations, so that the whole slip and fall process could be simulated using the same equations by switching input data. In the simulation, only kinematic data need to be input to obtain the joint moments and horizontal ground reaction force in the whole slip and fall process. The kinematic input data were acquired from one health male subject who was asked to perform the normal and slip gait. The anthropometric data for each body segment in the skeletal model was calculated using the body height, weight and the national standards on inertia parameters regression equations. The kinematic and kinetic results from the simulation are discussed in the paper which are well consistent with the conclusions in previous studies .