A Gait Analysis Technique based on Dynamic Model

Patients with paraplegia need crutches to keep balance during othosis ambulation, so it is necessary to establish a dynamic model reflecting the effect of supporting crutches. In the present study, we investigated two gait patterns of PAGO users, and constructed a mathematical model including parameters of the trunk, thighs, shins, feet, and crutches. Moreover, the Newton-Euler method was adopted for dynamic analysis. Because both crutches held the body up, a statically indeterminate problem existed during the analysis. An additional equation of trunk deformation was made to solve all unknown and obtain the driving moments of lower-limb joints. ADAMS simulation was performed to verify the feasibility of calculation. This study provides a basis for the development of lower-limb powered othoses. The results indicate that the motion rules of lower-limb joints are similar to the joint motion rules when a person walks slowly. It verified the correctness of the calculation.