Biped model for determining selected performance resource requirements during gait

A description is given of the development of a dynamic biped model for use in determining the amount of performance resources required to perform a predetermined gait task. The gait task is specified by identifying the desired cadence and stride length, and the performance resources predicted by the model are the joint torques, displacements, and velocities associated with the hip, knee, and ankle. Measurements of the subject´s height, weight, and limb segment lengths are used to individualize the model parameters to the subject. Values for segment density, mass moment of inertia, and center of gravity are obtained from the literature. Because the model is developed using a functional unit approach, it should be useful for comparing the amount of performance resources required for the task (from the model) with isokinetic strength data describing the amount of performance resources available to the subject. The initial development of the model and the preliminary validation procedure using data from the literature are presented.<>