Modeling biomechanical legs with toe-joint using simscape

Omer Eldirdiry, Riadh Zaier

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper discusses the validation of a simulation model of biomechanical legs with passive toe-joints using Matlab/Simscape. The structure of the biomechanical legs was presented using Simulink tools. Each leg consists of seven revolute joints (six active joints and one passive joint) connecting the torso, thigh, shank, back-foot, and front-foot. The structure of the toe-joint was discussed and a novel model representation for the joint was demonstrated. To validate the simulation model, the ground reaction forces were modeled and the location of the Zero Moment Point (ZMP) under the foot was found using two methods; ZMP-based model and the ZMP measured from the ground reaction force. The results from both methods were compared for a simple gait to validate the dynamic model.

Original languageEnglish
Title of host publication11th International Symposium on Mechatronics and its Applications, ISMA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-7
Number of pages7
Volume2018-January
ISBN (Electronic)9781538610787
DOIs
Publication statusPublished - Apr 2 2018
Event11th International Symposium on Mechatronics and its Applications, ISMA 2018 - Sharjah, United Arab Emirates
Duration: Mar 4 2018Mar 6 2018

Other

Other11th International Symposium on Mechatronics and its Applications, ISMA 2018
CountryUnited Arab Emirates
CitySharjah
Period3/4/183/6/18

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Keywords

  • Biomechanical-legs
  • Ground-force
  • Simscape
  • Simulation
  • Simulation-model
  • Toe-joint
  • ZMP

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Optimization
  • Mechanical Engineering

Cite this

Eldirdiry, O., & Zaier, R. (2018). Modeling biomechanical legs with toe-joint using simscape. In 11th International Symposium on Mechatronics and its Applications, ISMA 2018 (Vol. 2018-January, pp. 1-7). [8330129] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISMA.2018.8330129