Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking
Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-lo...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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The Company of Biologists
2019-06-01
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| Series: | Biology Open |
| Subjects: | |
| Online Access: | http://bio.biologists.org/content/8/6/bio043695 |
| _version_ | 1818437982889181184 |
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| author | Gabriel Antoniak Tirthabir Biswas Nelson Cortes Siddhartha Sikdar Chanwoo Chun Vikas Bhandawat |
| author_facet | Gabriel Antoniak Tirthabir Biswas Nelson Cortes Siddhartha Sikdar Chanwoo Chun Vikas Bhandawat |
| author_sort | Gabriel Antoniak |
| collection | DOAJ |
| description | Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-loaded inverted pendulum (SLIP). However, SLIP has many limitations and is unlikely to serve as a quantitative model. As a first step to obtaining a quantitative model for walking, we explored the ability of SLIP to model the single-support phase of walking, and found that SLIP has two limitations. First, it predicts larger horizontal ground reaction forces (GRFs) than empirically observed. A new model – angular and radial spring-loaded inverted pendulum (ARSLIP) – can overcome this deficit. Second, although the leg spring (surprisingly) goes through contraction-extension-contraction-extensions (CECEs) during the single-support phase of walking and can produce the characteristic M-shaped vertical GRFs, modeling the single-support phase requires active elements. Despite these limitations, SLIP as a model provides important insights. It shows that the CECE cycling lengthens the stance duration allowing the COM to travel passively for longer, and decreases the velocity redirection between the beginning and end of a step. |
| first_indexed | 2024-12-14T17:33:20Z |
| format | Article |
| id | doaj.art-ea913754c8694e86a098a9e7d4dcddef |
| institution | Directory Open Access Journal |
| issn | 2046-6390 |
| language | English |
| last_indexed | 2024-12-14T17:33:20Z |
| publishDate | 2019-06-01 |
| publisher | The Company of Biologists |
| record_format | Article |
| series | Biology Open |
| spelling | doaj.art-ea913754c8694e86a098a9e7d4dcddef2022-12-21T22:53:03ZengThe Company of BiologistsBiology Open2046-63902019-06-018610.1242/bio.043695043695Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walkingGabriel Antoniak0Tirthabir Biswas1Nelson Cortes2Siddhartha Sikdar3Chanwoo Chun4Vikas Bhandawat5 Department of Biology, Duke University, Durham, NC 27708, USA Department of Physics, Loyola University, New Orleans, LA 70118, USA Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA Department of Bioengineering, George Mason University, Fairfax, VA 22030, USA Department of Biology, Duke University, Durham, NC 27708, USA Department of Biology, Duke University, Durham, NC 27708, USA Despite the overall complexity of legged locomotion, the motion of the center of mass (COM) itself is relatively simple, and can be qualitatively described by simple mechanical models. In particular, walking can be qualitatively modeled by a simple model in which each leg is described by a spring-loaded inverted pendulum (SLIP). However, SLIP has many limitations and is unlikely to serve as a quantitative model. As a first step to obtaining a quantitative model for walking, we explored the ability of SLIP to model the single-support phase of walking, and found that SLIP has two limitations. First, it predicts larger horizontal ground reaction forces (GRFs) than empirically observed. A new model – angular and radial spring-loaded inverted pendulum (ARSLIP) – can overcome this deficit. Second, although the leg spring (surprisingly) goes through contraction-extension-contraction-extensions (CECEs) during the single-support phase of walking and can produce the characteristic M-shaped vertical GRFs, modeling the single-support phase requires active elements. Despite these limitations, SLIP as a model provides important insights. It shows that the CECE cycling lengthens the stance duration allowing the COM to travel passively for longer, and decreases the velocity redirection between the beginning and end of a step.http://bio.biologists.org/content/8/6/bio043695BiomechanicsLocomotionSpring-loaded inverted pendulum |
| spellingShingle | Gabriel Antoniak Tirthabir Biswas Nelson Cortes Siddhartha Sikdar Chanwoo Chun Vikas Bhandawat Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking Biology Open Biomechanics Locomotion Spring-loaded inverted pendulum |
| title | Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking |
| title_full | Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking |
| title_fullStr | Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking |
| title_full_unstemmed | Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking |
| title_short | Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single-support phase of walking |
| title_sort | spring loaded inverted pendulum goes through two contraction extension cycles during the single support phase of walking |
| topic | Biomechanics Locomotion Spring-loaded inverted pendulum |
| url | http://bio.biologists.org/content/8/6/bio043695 |
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