Human coordination based on spatial relationships

Conventional approaches to analyze human walking motions are mainly based on studying the temporal evolution of relative articular data between segments, at hip, knee and ankle joints. The innovative aspects of the proposed approach are expressed through several aspects. Firstly, feet are not considered as an unique solid. Toe joints (at metatarsophalangeal joint, noted MTP) are taken into account in the analysis and simulation of dynamic walking. Secondly, we identify three reference points within human body in order to generate walking motions: MTP joint center of the stance leg, MTP joint center of the swing leg and the geometric pelvis center. Thirdly, we show that position and orientation of reference points are correlated with unique parameter, namely the distance between stance foot and pelvis projected along the forward axis. The correlation is built through spatial coordination (without using “time parameter”), and this, during single and double stance phases. These results are validated by simulating an anthropomorphic humanoid at normal walking speed.