Models of entrainment of human walking
Name
1080308531-MIT.pdf
Description
Full printable version
Size
3.12 MB
Format
Adobe PDF
Checksum (MD5)
b145d432eb4c351e215b90137af847d1
Author(s)
Rigobon, Daniel E
Advisor(s)
Neville Hogan.
Date Issued
2018
Publisher
Massachusetts Institute of Technology
Abstract
Stable human locomotion may be described as a non-linear limit cycle oscillator. This claim has been supported through the observation of dynamic entrainment and phase-locking to external mechanical perturbations applied at the ankle. Simple models have been developed in attempts to understand these behaviors, but have been unsuccessful at replicating experimental studies. In this manuscript, an energy-based controller was implemented on a single degree-of-freedom model, adjusting its leading leg angle at heel strike and consequently the energy dissipation of the model. Stochasticity was applied to the controller to simulate the variability which has been observed and quantified in walking. The results indicate that energy control may be responsible for entrainment in human walking, but a revised model may be required to match the experimental coefficients of variation in step duration and velocity.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 39-40).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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