A Three-Dimensional Mass-Spring Walking Model Could Describe the Ground Reaction Forces

Figure 6

Simulation of GRF for different oscillation frequencies and initial parameters. (a) GRF in three directions. (b) GRF in the lateral direction. The leg stiffness ranges from 18 kN/m to 20 kN/m and then 22 kN/m, respectively. The vertical, forward, and lateral forces are indicated by thick, thin solid, and dashed lines, respectively (a). By setting the 3D angular velocity to −0.1 rad/s, −0.8 rad/s, and −1.5 rad/s and the 3D angles to 0.022 rad, 0.164 rad, and 0.317 rad respectively, the simulation result of lateral forces can be obtained in (b).

(a)

(b)