Simulation study of human locomotion based on planar musculoskeletal system using lambda model

Abstract

This study deals with human locomotion based on the planar musculoskeletal model and physical kinematics. The skeletal model consists of a trunk, a pair of arms composed of two links, and a pair of legs composed of three links. Each leg has nine principal muscles modeled as massless wires whose contraction forces and activations are determined using lambda model. Numerical simulations establish stable bipedal locomotion compared with physiological data of human locomotion.