Sensitivity Analysis of Human Leg Metabolical Costs

Abstract

The human walking is characterized by skeletal dynamics and muscle excitation patterns minimizing the metabolical energy. This criterion is applied to assess the performance of lower limb prosthetic devices, and to evaluate therapies for patients presenting gait disorders. It is desirable, therefore, to dispose models of the human normal and pathological gaits capable of estimating the metabolical energy expenditure.For the swing phase of normal and pathological gaits a musculoskeletal model of the lower limb is presented to estimate metabolical energy expenditure. The mechanical model has three degrees of freedom and is actuated by eight Hill-type muscle units, and the model for the metabolical costs is adopted from literature. In this paper a combination of inverse and direct dynamics is used, and a sensitivity analysis of the dynamical behavior and the corresponding metabolical costs estimations with respect to parametrized neural excitations is performed. The leg motions are based on experiments in a gait analysis laboratory.