Energy expenditure during human gait. I — An optimized model

Within the framework of multibody dynamics, a 3D large scale neuromusculoskeletal model of the human body is presented. To characterize the dynamics of skeletal muscle, a phenomenological model of energy expenditure was developed for estimating energy consumption during normal locomotion. Such model is able for predicting thermal and mechanical energy liberation under submaximal activation, muscle fiber type, and varying contractile conditions, typically observed in human motion. Future formulations of the indeterminate biomechanical problem, solved through the physiological criteria of minimization of metabolical cost of transport during gait, should consider the role of muscle groups in coordinating multijoint motion. Such an approach is presented in part II of the paper.