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. 步態分析及其應用[J].中華骨科雜志,1991,11(3):207-210.
2.	勵建安, 孟殿懷.步態分析的臨床應用[J].中華物理醫學與康復雜志,2006,28(7):500-503.
3.	吳劍, 李建設.人體行走時步態的生物力學研究進展[J].中國運動醫學雜志,2002,21(3):305-307.
4.	戴克戎, 湯榮光.平地常速行走時的步態觀察[J].中國生物醫學工程學報,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.	劉雷. 人體運動仿真建模方法研究[J].計算機仿真,2009,26(1):166-168.
10.	楊楠, 戴士杰.基于ADAMS的人體步態運動仿真[J].機械工程與自動化,2015(6):56-58.
11.	張明, 張德文,余嘉,等.足部三維有限元建模方法及其生物力學應用[J].醫用生物力學,2007,22(4):339-344.
12.	李云婷, 陶凱,王冬梅,等.足底軟組織硬化對足部生物力學性能影響的三維有限元分析[J].醫用生物力學,2009,24(3):169-173.
13.	盧昌懷, 余斌,陳輝強,等.正常步態下距骨三維有限元模型的建立及應力分析[J].南方醫科大學學報,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, 郭秦陽,王冬梅.六自由度步態模擬的測試裝置:中國,CN201410664779.7[P].2015-04-08.
18.	徐翔燕, 王冬梅,尹建文,等.個性化踝關節假體的設計及三維有限元分析[J].醫用生物力學,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.	陶凱.人體足踝系統建模與相關力學問題研究——"中國力學虛擬人"項目之足踝部分[D].上海:上海交通大學,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. 步態分析及其應用[J].中華骨科雜志,1991,11(3):207-210.
2. 勵建安, 孟殿懷.步態分析的臨床應用[J].中華物理醫學與康復雜志,2006,28(7):500-503.
3. 吳劍, 李建設.人體行走時步態的生物力學研究進展[J].中國運動醫學雜志,2002,21(3):305-307.
4. 戴克戎, 湯榮光.平地常速行走時的步態觀察[J].中國生物醫學工程學報,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. 劉雷. 人體運動仿真建模方法研究[J].計算機仿真,2009,26(1):166-168.
10. 楊楠, 戴士杰.基于ADAMS的人體步態運動仿真[J].機械工程與自動化,2015(6):56-58.
11. 張明, 張德文,余嘉,等.足部三維有限元建模方法及其生物力學應用[J].醫用生物力學,2007,22(4):339-344.
12. 李云婷, 陶凱,王冬梅,等.足底軟組織硬化對足部生物力學性能影響的三維有限元分析[J].醫用生物力學,2009,24(3):169-173.
13. 盧昌懷, 余斌,陳輝強,等.正常步態下距骨三維有限元模型的建立及應力分析[J].南方醫科大學學報,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, 郭秦陽,王冬梅.六自由度步態模擬的測試裝置:中國,CN201410664779.7[P].2015-04-08.
18. 徐翔燕, 王冬梅,尹建文,等.個性化踝關節假體的設計及三維有限元分析[J].醫用生物力學,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. 陶凱.人體足踝系統建模與相關力學問題研究——"中國力學虛擬人"項目之足踝部分[D].上海:上海交通大學,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.

Journal of Biomedical Engineering

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

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