A model-experiment comparison of system dynamics for human walking and running

Adjustments of global and hindlimb local properties during the terrestrial locomotion of the common quail (Coturnix coturnix)

“…This includes slow walking speeds, at which we obtained three peaks in the shape of the vertical GRF trace, which until now were only predicted by simulations (Geyer et al, 2006). In contrast, in walking humans strong deviations occur from the spring-like leg behavior (Lipfert et al, 2012). Small birds walk and run with a more crouched posture favoring a compliant leg behavior (Gatesy and Biewener, 1991;Andrada et al, 2012;Stoessel and Fischer, 2012;present study).…”

“…In contrast, assessing local parameters permits inference of each joint's contribution to global leg behavior. At the global level, the spring loaded inverted pendulum (SLIP) model [also called the spring-mass model (Blickhan, 1989)] can accurately describe the dynamics of running and hopping, while the bipedal spring loaded inverted pendulum (BSLIP) model (also called the bipedal spring-mass model) can predict those of moderate walking (Geyer et al, 2006;Lipfert et al, 2012) and grounded running , if the appropriate limb parameters for these models are given (limb angle at touch-down, leg stiffness, effective limb length and, for the BSLIP, limb compression).…”

“…Contrary to humans or large animals that walk with extended legs, and thus with high leg stiffness [for humans, see Lipfert et al (Lipfert et al, 2012)], the crouched posture observed in small animals [(e.g. Biewener, 1989;Gatesy and Biewener, 1991;Witte et al, 2002); small animals being defined as having a body mass <1kg (following Biewener, 1989)] may enable spring-like locomotion at lower speeds.…”

Walking in circles: a modelling approach

“…The bipedal spring-loaded inverted pendulum (BSLIP) model [1] is a mimimalisic gait template [2] which mimics key features of human walking: besides the alternating body support, each leg shows an M-shaped ground reaction force similar to what is observed in humans. Owing to its simplicity, it fails to reproduce other characteristics of human walking, such as typical contact times or force amplitudes, especially for very slow and fast walking [3]. However, we decided to use this model for our present modelling study, as it provides a good compromise between similarity to human data and simplicity.…”

Relationship between Leg Stiffness and Kinematic Variables According to the Load while Running

“…While the complex motion of the lower extremities during running have been investigated using the spring-mass model (Arampatzis et al, 1999;Blum et al, 2009;Donelan & Kram, 2000;Farley & Gonzalez, 1996;Lipfert et al, 2012;McMahon & Cheng, 1990), the load used with running varies greatly based on an individual's goal and kinematic information about lower-extremity motion is lacking. Although study results have implicated that the ability to sustain an appropriate level of leg stiffness during running effectively prevents injury (Butler et al, 2003), the method and material about sustaining this level is lacking and leg stiffness and related variables according to load change have only been explained through simple differences in increases or decreases (Silder et al, 2015).…”