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Published, Version of Record (VoR)CC BY V4.0, Open
Journal article
Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking
Biology open, v 8(6)
14 Jun 2019
PMID: 31097445
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-loaded inverted pendulum (SLIP). However, SLIP has many limitations and is unlikely to serve as a quantitative model. As a first step to obtaining a quantitative model for walking, we explored the ability of SLIP to model the single-support phase of walking, and found that SLIP has two limitations. First, it predicts larger horizontal ground reaction forces (GRFs) than empirically observed. A new model - angular and radial spring-loaded inverted pendulum (ARSLIP) - can overcome this deficit. Second, although the leg spring (surprisingly) goes through contraction-extension-contraction-extensions (CECEs) during the single-support phase of walking and can produce the characteristic M-shaped vertical GRFs, modeling the single-support phase requires active elements. Despite these limitations, SLIP as a model provides important insights. It shows that the CECE cycling lengthens the stance duration allowing the COM to travel passively for longer, and decreases the velocity redirection between the beginning and end of a step.
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Details
- Title
- Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking
- Creators
- Gabriel Antoniak - Duke UniversityTirthabir Biswas - Loyola University New OrleansNelson Cortes - George Mason UniversitySiddhartha Sikdar - George Mason UniversityChanwoo Chun - Duke UniversityVikas Bhandawat - Duke University
- Publication Details
- Biology open, v 8(6)
- Publisher
- Company of Biologists
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems
- Web of Science ID
- WOS:000478021700018
- Scopus ID
- 2-s2.0-85068221950
- Other Identifier
- 991019176642804721
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- Collaboration types
- Domestic collaboration
- Web of Science research areas
- Biology