A Multi-segment Foot Model for Gait Simulation Based on Automatic Dynamic Analysis of Mechanical Systems_Journal of Biomedical Engineering

Authors：

HUJie ,  WANGDongmei , YANGWenting , GUOQinyang , SHIGuanglin

School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;

Corresponding author：

WANGDongmei, Email: dmw_mail@163.net

Keywords：

gait simulation; foot model; dynamic simulation; biomechanics; ground reaction force

DOI：

10.7507/1001-5515.20160170

Video：

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This study aims to establish a multi-segment foot model which can be applied in dynamic gait simulation. The effectiveness and practicability of this model were verified afterwards by comparing simulation results with those of previous researches. Based on a novel hybrid dynamic gait simulator, bone models were imported into automatic dynamic analysis of mechanical systems (ADAMS). Then, they were combined with ligaments, fascia, muscle and plantar soft tissue that were developed in ADMAS. Multi-segment foot model was consisted of these parts. Experimental data of human gait along with muscle forces and tendon forces from literature were used to drive the model and perform gait simulation. Ground reaction forces and joints revolution angles obtained after simulation were compared with those of previous researches to validate this model. It showed that the model developed in this paper could be used in the dynamic gait simulation and would be able to be applied in the further research.

Citation： HUJie, WANGDongmei, YANGWenting, GUOQinyang, SHIGuanglin. A Multi-segment Foot Model for Gait Simulation Based on Automatic Dynamic Analysis of Mechanical Systems. Journal of Biomedical Engineering, 2016, 33(6): 1060-1066. doi: 10.7507/1001-5515.20160170 Copy

1.	戴克戎. 步态分析及其应用[J].中华骨科杂志,1991,11(3):207-210.
2.	励建安, 孟殿怀.步态分析的临床应用[J].中华物理医学与康复杂志,2006,28(7):500-503.
3.	吴剑, 李建设.人体行走时步态的生物力学研究进展[J].中国运动医学杂志,2002,21(3):305-307.
4.	戴克戎, 汤荣光.平地常速行走时的步态观察[J].中国生物医学工程学报,1982,1(1):15-21.
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8.	LUNDGREN P, NESTER C, LIU A, et al. Invasive in vivo measurement of rear-, mid- and forefoot motion during walking[J]. Gait Posture, 2008, 28(1): 93-100.
9.	刘雷. 人体运动仿真建模方法研究[J].计算机仿真,2009,26(1):166-168.
10.	杨楠, 戴士杰.基于ADAMS的人体步态运动仿真[J].机械工程与自动化,2015(6):56-58.
11.	张明, 张德文,余嘉,等.足部三维有限元建模方法及其生物力学应用[J].医用生物力学,2007,22(4):339-344.
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15.	PEETERS K, NATSAKIS T, BURG J, et al. An in vitro approach to the evaluation of foot-ankle kinematics: performance evaluation of a custom-built gait simulator[J]. Proc Inst Mech Eng H, 2013, 227(9): 955-967.
16.	AUBIN P M, WHITTAKER E, LEDOUX W R. A robotic cadaveric gait simulator with fuzzy logic vertical ground reaction force control[J]. IEEE Transactions on Robotics, 2012, 28(1): 246-255.
17.	施光林, 郭秦阳,王冬梅.六自由度步态模拟的测试装置:中国,CN201410664779.7[P].2015-04-08.
18.	徐翔燕, 王冬梅,尹建文,等.个性化踝关节假体的设计及三维有限元分析[J].医用生物力学,2015,30(5):404-409.
19.	DESCHAMPS K, STAES F, BRUYNINCKX H, et al. Repeatability in the assessment of multi-segment foot kinematics[J]. Gait Posture, 2012, 35(2): 255-260.
20.	JENKYN T R, ANAS K, NICHOL A. Foot segment kinematics during normal walking using a multisegment model of the foot and ankle complex[J]. J Biomech Eng, 2009, 131(3): 034504.
21.	CARAVAGGI P, BENEDETTI M G, BERTI L, et al. Repeatability of a multi-segment foot protocol in adult subjects[J]. Gait Posture, 2011, 33(1): 133-135.
22.	WRIGHT C J, ARNOLD B L, COFFEY T G, et al. Repeatability of the modified Oxford foot model during gait in healthy adults[J]. Gait Posture, 2011, 33(1): 108-112.
23.	MILLARD M, KUBICA E, MCPHEE J. Forward dynamic human gait simulation using a SLIP target model[J]. Procedia IUTAM, 2011, 2: 142-157.
24.	ANDERSEN M S, DAMSGAARD M, RASMUSSEN J. Kinematic analysis of over-determinate biomechanical systems[J]. Comput Methods Biomech Biomed Engin, 2009, 12(4): 371-384.
25.	MOREIRA P,SILVA M,FLORES P.Ground foot interaction in human gait: modelling and simulation[C]//Seventh Euromech Solid Mechanics Conference. Lisbon, 2009: 07-11.
26.	SHIN J, YUE Neng, UNTAROIU C D. A finite element model of the foot and ankle for automotive impact applications[J]. Ann Biomed Eng, 2012, 40(12): 2519-2531.
27.	ERDEMIR A, SAUCERMAN J J, LEMMON D, et al. Local plantar pressure relief in therapeutic footwear: design guidelines from finite element models[J]. J Biomech, 2005, 38(9): 1798-1806.
28.	陶凯.人体足踝系统建模与相关力学问题研究——"中国力学虚拟人"项目之足踝部分[D].上海:上海交通大学,2010.http://cdmd.cnki.com.cn/Article/CDMD-10248-2010112722.htm.
29.	GIAKAS G, BALTZOPOULOS V. Time and frequency domain analysis of ground reaction forces during walking:an investigation of variability and symmetry[J]. Gait Posture, 1997, 5(3): 189-197.
30.	JUNG Y, JUNG M, RYU J, et al. Dynamically adjustable foot-ground contact model to estimate ground reaction force during walking and running[J]. Gait Posture, 2016, 45: 62-68.
31.	MACWILLIAMS B A, COWLEY M, NICHOLSON D E. Foot kinematics and kinetics during adolescent gait[J]. Gait Posture, 2003, 17(3): 214-224.

1. 戴克戎. 步态分析及其应用[J].中华骨科杂志,1991,11(3):207-210.
2. 励建安, 孟殿怀.步态分析的临床应用[J].中华物理医学与康复杂志,2006,28(7):500-503.
3. 吴剑, 李建设.人体行走时步态的生物力学研究进展[J].中国运动医学杂志,2002,21(3):305-307.
4. 戴克戎, 汤荣光.平地常速行走时的步态观察[J].中国生物医学工程学报,1982,1(1):15-21.
5. MURO L A. HERRAN A. GARCIA-ZAPIRAIN B, MENDEZ-ZORILLA A. gait analysis methods:an overview of wearable and non-wearable systems,highlighting clinical applications[J]. Sensors, 2014, 14(2): 3362-3394.
6. BAKER R, HART H M. Measuring walking:a handbook of clinical gait analysis[M]. [S.l.]: Mac Keith Press, 2013.
7. NESTER C J, LIU A M, WARD E, et al. In vitro study of foot kinematics using a dynamic walking cadaver model[J]. J Biomech, 2007, 40(9): 1927-1937.
8. LUNDGREN P, NESTER C, LIU A, et al. Invasive in vivo measurement of rear-, mid- and forefoot motion during walking[J]. Gait Posture, 2008, 28(1): 93-100.
9. 刘雷. 人体运动仿真建模方法研究[J].计算机仿真,2009,26(1):166-168.
10. 杨楠, 戴士杰.基于ADAMS的人体步态运动仿真[J].机械工程与自动化,2015(6):56-58.
11. 张明, 张德文,余嘉,等.足部三维有限元建模方法及其生物力学应用[J].医用生物力学,2007,22(4):339-344.
12. 李云婷, 陶凯,王冬梅,等.足底软组织硬化对足部生物力学性能影响的三维有限元分析[J].医用生物力学,2009,24(3):169-173.
13. 卢昌怀, 余斌,陈辉强,等.正常步态下距骨三维有限元模型的建立及应力分析[J].南方医科大学学报,2010,30(10):2273-2276.
14. ITO K, OGIHARA N, HOSODA K, et al. Direct assessment of foot kinematics during human gait using a dynamic cadaver simulator and a biplane X-ray fluoroscopy[J]. J Foot Ankle Res, 2014, 7(S1): 1-2.
15. PEETERS K, NATSAKIS T, BURG J, et al. An in vitro approach to the evaluation of foot-ankle kinematics: performance evaluation of a custom-built gait simulator[J]. Proc Inst Mech Eng H, 2013, 227(9): 955-967.
16. AUBIN P M, WHITTAKER E, LEDOUX W R. A robotic cadaveric gait simulator with fuzzy logic vertical ground reaction force control[J]. IEEE Transactions on Robotics, 2012, 28(1): 246-255.
17. 施光林, 郭秦阳,王冬梅.六自由度步态模拟的测试装置:中国,CN201410664779.7[P].2015-04-08.
18. 徐翔燕, 王冬梅,尹建文,等.个性化踝关节假体的设计及三维有限元分析[J].医用生物力学,2015,30(5):404-409.
19. DESCHAMPS K, STAES F, BRUYNINCKX H, et al. Repeatability in the assessment of multi-segment foot kinematics[J]. Gait Posture, 2012, 35(2): 255-260.
20. JENKYN T R, ANAS K, NICHOL A. Foot segment kinematics during normal walking using a multisegment model of the foot and ankle complex[J]. J Biomech Eng, 2009, 131(3): 034504.
21. CARAVAGGI P, BENEDETTI M G, BERTI L, et al. Repeatability of a multi-segment foot protocol in adult subjects[J]. Gait Posture, 2011, 33(1): 133-135.
22. WRIGHT C J, ARNOLD B L, COFFEY T G, et al. Repeatability of the modified Oxford foot model during gait in healthy adults[J]. Gait Posture, 2011, 33(1): 108-112.
23. MILLARD M, KUBICA E, MCPHEE J. Forward dynamic human gait simulation using a SLIP target model[J]. Procedia IUTAM, 2011, 2: 142-157.
24. ANDERSEN M S, DAMSGAARD M, RASMUSSEN J. Kinematic analysis of over-determinate biomechanical systems[J]. Comput Methods Biomech Biomed Engin, 2009, 12(4): 371-384.
25. MOREIRA P,SILVA M,FLORES P.Ground foot interaction in human gait: modelling and simulation[C]//Seventh Euromech Solid Mechanics Conference. Lisbon, 2009: 07-11.
26. SHIN J, YUE Neng, UNTAROIU C D. A finite element model of the foot and ankle for automotive impact applications[J]. Ann Biomed Eng, 2012, 40(12): 2519-2531.
27. ERDEMIR A, SAUCERMAN J J, LEMMON D, et al. Local plantar pressure relief in therapeutic footwear: design guidelines from finite element models[J]. J Biomech, 2005, 38(9): 1798-1806.
28. 陶凯.人体足踝系统建模与相关力学问题研究——"中国力学虚拟人"项目之足踝部分[D].上海:上海交通大学,2010.http://cdmd.cnki.com.cn/Article/CDMD-10248-2010112722.htm.
29. GIAKAS G, BALTZOPOULOS V. Time and frequency domain analysis of ground reaction forces during walking:an investigation of variability and symmetry[J]. Gait Posture, 1997, 5(3): 189-197.
30. JUNG Y, JUNG M, RYU J, et al. Dynamically adjustable foot-ground contact model to estimate ground reaction force during walking and running[J]. Gait Posture, 2016, 45: 62-68.
31. MACWILLIAMS B A, COWLEY M, NICHOLSON D E. Foot kinematics and kinetics during adolescent gait[J]. Gait Posture, 2003, 17(3): 214-224.

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A Multi-segment Foot Model for Gait Simulation Based on Automatic Dynamic Analysis of Mechanical Systems

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