Normal Human Gait Analysis of Right Lower Limb During Complete Cycle Using Sub-Parametric Fitting Functions

Sub-parametric functions for fitting the normal human gait parameters, of the right lower limb, during complete cycle was developed in this paper. The dynamic model was derived based on LaGrangian dynamics, and the analysis is restricted only to sagittal plane of the right lower limb.The lower limb is simulated as a three link robotic manipulator that represent thigh, shank and foot. The variation of hip, knee, and ankle angles resembles the trend of those provided in a work cited in the literature, and the inverse kinematics of the three joints are satisfied. The foot is simulated as thirty sixty-degree triangle, however it is considered rigid and the angle the chord makes with the ground is considered to be the foot angle.The trajectories of the individual joints are segmented in order to facilitate their data fitting. The common methods cannot provide simultaneous fitting and continuity of variables and their first and second derivatives across the segments.The partitioned control law is implemented in order to handle the complexity of multi-variable system where gains are determined as if Controlling a unit mass system.