Abstract
The computer simulation model of bipedal walking was developed in order to analyze colletively the dynamical characteristics of human walking that is one of the most basic problem to the design of prostheses and other relative fields about walking.
This model is formed with two dimensional seven rigid links and eight muscle groups, and that is able to calculate the floor reactions, joint moments, muscular forces, electric activities of muscles, power of leg, energy consumption, transmitted forces by joints, and center of gravity from the measured displacements and physical constants of subject. To examine this model, those calculated values were compared with experimental values, and they agreed well respectively.
The normal walking of adult man and woman and the bipedal walking of japanese monkey and chimpanzee were simulated with this model. Consequently, it was shown that the characteristics of human walking are caused by the erect of knee joint in stance phase and propulsion by push off of foot.
