Contact-Rich and Deformable Foot Modeling for Locomotion Control of the Human Musculoskeletal System

The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human gait dynamics. We developed a novel contact-rich and deformable model of the human foot integrated within a complete musculoskeletal system that captures the complex biomechanical interactions during walking. To overcome the control challenges inherent in modeling multi-point contacts and deformable material, we developed a two-stage policy training strategy to learn natural walking patterns for this interfaceenhanced model. Comparative analysis between our approach and conventional rigid musculoskeletal models demonstrated improvements in kinematic, kinetic, and gait stability metrics. Validation against human subject data confirmed that our simulation closely reproduced real-world biomechanical measurements. This work advances contact-rich interface modeling for human musculoskeletal systems and establishes a robust framework that can be extended to humanoid robotics applications requiring precise foot-ground interaction control.