Bipedal model experimentally adjusted to simulate human walking forces in vertical direction

Resumo

In this study, a damped bipedal model with compliant legs is adopted from the literature to represent
a walking pedestrian. Forty-five volunteers are recruited to participate in an experimental program to walk on a
rigid surface covered by force plates. The walking forces and accelerations at the pedestrians’ center of mass are
recorded in the experimental campaign. The bipedal model parameters are estimated by adjusting the numerical
and experimental vertical ground reaction forces (GRFs). Monte Carlo simulations are performed within wide
ranges of input parameters and initial conditions to obtain the best possible matches between the model predictions

and experimentally measured data. It is found that the bipedal model can reproduce stable gaits and typical M-
shape GRF profiles for step frequencies in the range of 1,42-2,42 Hz. The best correlations are found at slow

and normal walking speeds. Moreover, empirical values for pendulum length, attack angle, leg stiffness and leg
damping are proposed.