Dynamic Behavior of Human Locomotion during Ascending Stairs

Abstract

Human gait locomotion has been studied a lot since the human balance during daily routine is of interests of scientists and has the rehabilitation and robotic applications. In this study the dynamic behavior of the human gait during stair ascent has been studied and an innovation model has been developed based on holistic approach using Poincare’s method and it will describe the leg joints coordination and interactions. Five healthy subjects were tested. Phase plane of lower extremities joints were constructed for sagittal plane. The desired dynamic was designed based on the intersection of Poincare sections and joint’s trajectories. The results indicate that the system has the limit cycle dynamic and it shows a stable behavior.