The biomechanical study of lower limb during human walking

The coordinates of the marked points of joints and the changes of foot force in the human walk motion are obtained with systems of motion image acquisition and force measuring. The effects of kinematics and dynamics on the human lower limb in different loads (0, 10, 20, 30 kg) and walking speeds (0.8, 1.3, 1.7 m/s) have been investigated using the human dynamics model,. The results were as follows. First, with the increasing load, the dorsiflexion angle of ankle joint increased during the procedure of toe-off, the range of motion of the knee joint decreased, the flexion angle of the hip joint increased, and oppositely, the extension angle of the hip joint decreased. Second, with the increasing speed, the range of motion of the ankle joint, the maximum flexion angle of the knee joint, the flexion angle, extension angle of the hip joint and the range of motion of hip joint increased. Finally, the torque and power of the ankle joint, the knee joint and the hip joint increased with the increasing speed and load. The results can provide an important basis for the mechanism design of lower limb power-assisted exoskeleton.