Study On Thigh Muscle Weakness Elderly Gait Planning Based On The Human Body Kinematics, Dynamics And ZMP

With the development of the society, human aging and empty nest phenomenon areincreasing, and the elder is gradually one of the important problems which the social focus on.Lower limb muscle loss will affect the human’s movement stability, and walk agile degreedeclines, and muscle strength and control ability gradually decline, they influence the dailyactivities seriously. At present the research on human fall is the experimental method, it can usethe sensor wears on the waist to identify the fall, the scientists from home and abroad research onthe wearing mechanism to prevent human fall. They play an important role in old people’s life.Different from the stable support device, walking stability has always been a big factor thatpuzzling the old people, especially for the people who are short of muscle strength. It putsforward high request for the stability of the dynamic walking. Besides the fall prevention devices,human gait planning is very important. According to the analysis of the kind of humanoid robothow to dynamically stable walking, we study on the gait planning for the thigh muscle weakness.First of all, we discuss about the body’s kinematics and dynamics modeling. We use thegeneralized coordinate method to carry on the kinematics modeling in the body’s forward andlateral plane, the purpose is to get the movement of each joint and the pose of the body. We useLagrange equation to analyze the dynamic model of humans’ body, the target is to get the jointforce and moment of the body. They are ready for the gait planning subsequently.Secondly, according to the ZMP for stability criterion, we plan the gait reasonably for thebody’s dynamic walking. We analyze the human body’s stability, and draw ZMP theory formula,and put forward some assumptions and limit some constraints for walking. We use the fivepoints programming to design the parameters, such as body’s step length, walk cycle based onthe cubic spline interpolation function, and adjust the parameter in order to obtain the adaptiveand flexible gait.Finally, we use the torque control method to compensate the walk of each joint torque, andcorrect the error through the joint trajectory tracking method in a very short period, and thenimprove the stability of the human body to walk effectively.