A three-dimensional model of the human locomotor apparatus for analysis of hemiplegic gait

In common gait analysis systems, the kinematic data of the patients are recorded and used for diagnosis and control of therapy. Unfortunately these systems can´t measure quantities like joint torques, energies or muscle forces. This paper presents a three-dimensional mechanical model of the human body, which comprises 42 degrees of freedom. The models of the muscles are replaced by more simple torque generators in the joints. Using the method of inverse dynamics, the simulation program yields kinetic data such as joint torques. This additional information can help to better understand the process of human walking and enhance diagnosis possibilities. The simulation results for the walking cycle of a healthy person shows good agreement with measurements. A comparison between a hemiplegic patient and healthy subject yields considerable deviations in the joint torques