Estimation of Actuating Force of Running by Viscoelastic Model with a Characteristics of Muscle

Abstract

Although a ball's rebound height decreases for every fall, a man's rebound height in running is kept constant by supplying the actuating force in a certain amount through the ground reaction force of landing. Purpose of this study is to propose an estimation method of the actuating force from the ground reaction force. In this paper, the mechanical model of running is represented by the mass-nonlinear Voigt model which is composed of the nonlinear spring element whose stiffness decreases with time because of the biomechanical properties of passive tension of muscle and the nonlinear damping element which is expressed by polynomial of viscous element and some elastic-viscous interactive elements. In this model, when the resultant reaction force of the viscous and interactive elements agrees with the velocity of mass center in direction, the force is estimated as the actuating force.