Simple 2 DoFs Hybrid Dynamic Modeling of Biped Gait Considering Foot Rotation

The ankle joint plays a vital role in enabling normal locomotion in healthy individuals. However, diseases and conditions can result in weakening or dysfunction of the ankle joint. In many cases, the use of active ankle orthoses or exoskeletons can prove beneficial in assisting ankle joint function. The necessity for simplified models makes it essential to design an appropriate controller for the ankle joint to recover normal gait in patients. In this paper, we present a two degree of freedom hybrid dynamic model, considering foot rotation and various phases of gait in both single support and double support phases. This model contains only one active degree of freedom under control at the ankle joint. Ultimately, the simulation results of the passive walking of this model are investigated.