Adjusting Legs for Stable Running in Three Dimensions

Peuker, Frank; Seyfarth, André

doi:10.1007/978-3-642-14515-5_1

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2011

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“…Since humans avoid narrow step widths, because they are less stable [30], the suitable lateral foot placement could additionally stabilize asymmetric gaits. First three-dimensional symmetrical models for running [31,32] and walking [33] already exist.…”

Section: Discussionmentioning

confidence: 99%

Stable walking with asymmetric legs

2011

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Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. Here, we address this issue using a bipedal spring-mass model for simulating walking with compliant legs. With the help of the model, we show that considerable differences between contralateral legs can be tolerated and may even provide advantages to the robustness of the system dynamics. A better understanding of the mechanisms and potential benefits of asymmetric leg operation may help to guide the development of artificial limbs or the design novel therapeutic concepts and rehabilitation strategies.

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