Paper
Mathematical Modeling of Human Posture Balance When Standing on One Foot
- Authors:
- A. V. Chigarev; A.V. Borisov
- Abstract
- The given work deals with the model of stability of a human body as a multilink pivotal pattern with concentrated masses in the phase standing on a skid foot. The moments in joints, providing static posture of a human body, are modeled by the springs of a certain deflection rate. The zones of deflection rate of the springs, necessary for balance maintenance, are defined in the work. A possibility of practical realization of the appliance in the form of exoskeleton with a person inside and its vertical balance maintenance is considered hereinafter. A generalization of the obtained for the case of a bio-mechanical system consists of a random finite number of links. To construct the solution let us first record the potential energy of the system. Then it is expanded into Maclaurin series. After that, the notations, which suitably represent the potential energy for the application of the criterion of Sylvester are introduced. The solution of inequalities is done numerically. The graphs are constructed for a visual representation of the obtained solutions. It was stated that the spring stiffness zones necessary for maintaining vertical posture a man in exoskeleton are large. Minimum required stiffness notations are of the main practical interest, since only these values can be sufficient while creating an exoskeleton enough these values. They can be determined graphically. These are the lower bound areas of the graphs. This model can be applied to create anthropomorphic robots while resolving a question of their static posture balance and the necessary structural elements. In practice, exoskeletons can be used in military technologies, medicine, gerontology, sports, industry, in everyday life, etc. wherever it is necessary to offload or enforce a natural human skeleton. Therefore, this work can be considered relevant for practical realization of human-machine system as well.
- Keywords
- Balance; Exoskeleton; Stability; Joints; Deflection Rate Of Springs; Single-support Phase; Statics
- StartPage
- 12
- EndPage
- 17
- Doi