Dynamic Walking and Balance Control

Research Description

We are developing predictive dynamic simulations of human legged locomotion to better understand human motor control and balance. Our “what-if” predictive simulations require high-fidelity mathematical models of foot-ground physical contact and can facilitate virtual exploration and optimization of assistive device design parameters and surgical interventions, without requiring time-consuming and expensive trial-and-error human experiments.

Student Researchers

Mahdokht Ezati
• Keaton Inkol
Peter Brown (Alumnus)
Mohammad Shourijeh (Alumnus)
• Matthew Millard (Alumnus)

Keywords and Themes

• Human Legged Locomotion
• Foot-Ground Contact Modelling 
• Balance Control  
• Gait Biomechanics 
• Predictive Dynamic Simulations 

Foot-Model

Related Publications 

• Ezati M, Ghannadi B, and McPhee J. (2019). A Review of Simulation Methods for Human Movement Dynamics with Emphasis on Gait. Multibody System Dynamics. DOI: 10.1007/s11044-019-09685-1.
• Brown P and McPhee J. (2018). A 3D Ellipsoidal Volumetric Foot-Ground Contact Model for Forward Dynamics. Multibody System Dynamics. DOI: 10.1007/s11044-017-9605-4.
• Brown P and McPhee J. (2016). A Continuous Velocity-Based Friction Model for Dynamics and Control With Physically Meaningful Parameters. ASME Journal of Computational and Nonlinear Dynamics. DOI: 10.1115/1.4033658.