2026-09-19T16:57:55Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1199402022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Neville Hogan.
Rigobon, Daniel E
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-01-11T16:04:03Z
2019-01-11T16:04:03Z
2018
2018
http://hdl.handle.net/1721.1/119940
1080308531
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 39-40).
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.
by Daniel E. Rigobon.
S.B.
40 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Models of entrainment of human walking
Thesis
application/pdf
Publication
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unknown
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<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.</Abstract>
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