Experimental Characterization of Human Walking on Stairs Applied to Humanoid Dynamics

The paper presents a comparison between an experimental study of flexion-extension movement in human leg joints and numerical simulations on a virtual mannequin computed in ADAMS virtual environment. Using Biometrics data acquisition system based on electrogoniometers, data were collected for each of three joints of right and left legs during experimental climbing and descending on stairs. The mean flexion-extension cycles for legs joints were obtained. This obtained experimental data series were introduced as input in the joints of the virtual mannequin and a walking simulation was performed in ADAMS environment software. The variation of joints forces and torques during walking obtained by virtual simulation could be used in future work in order to obtain stress and displacements maps in bones and joints by applying the finite element method.