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Biomedical Engineering and Bioengineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Theses/Dissertations

2014

Biological sciences

Mechanical Engineering

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Full-Text Articles in Biomedical Engineering and Bioengineering

Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera Oct 2014

Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera

Open Access Theses

In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it ...