@article{ref1,
title="Constructing predictive models of human running",
journal="Journal of the Royal Society, Interface",
year="2015",
author="Maus, Horst-Moritz and Revzen, Shai and Guckenheimer, John and Ludwig, Christian and Reger, Johann and Seyfarth, Andre",
volume="12",
number="103",
pages="e2014.0899-e2014.0899",
abstract="Running is an essential mode of human locomotion, during which ballistic aerial phases alternate with phases when a single foot contacts the ground. The spring-loaded inverted pendulum (SLIP) provides a starting point for modelling running, and generates ground reaction forces that resemble those of the centre of mass (CoM) of a human runner. Here, we show that while SLIP reproduces within-step kinematics of the CoM in three dimensions, it fails to reproduce stability and predict future motions. We construct SLIP control models using data-driven Floquet analysis, and show how these models may be used to obtain predictive models of human running with six additional states comprising the position and velocity of the swing-leg ankle. Our methods are general, and may be applied to any rhythmic physical system. We provide an approach for identifying an event-driven linear controller that approximates an observed stabilization strategy, and for producing a reduced-state model which closely recovers the observed dynamics.<p /> <p>Language: en</p>",
language="en",
issn="1742-5689",
doi="10.1098/rsif.2014.0899",
url="http://dx.doi.org/10.1098/rsif.2014.0899"
}