Angular Momentum About the Total Body Center of Mass Computed at Different Speeds

Dynamical parameters of human walking are required in robotic researches. These provide essential information for development of control possibilities and joint activation. The study starts with kinematical recordings of the overground walking at self-selected velocity and imposed velocity of one subject. Taking into account the kinematical data and the length measurements of body elements and total body mass, a computational model for determining the angular momentum was created. The masses of individual segments and inertia were approximated as percentages to the total body mass and radius of gyration, relying on the literature data. In order to identify the differences in angular momentum at different speeds, mean absolute difference and correlation coefficient were computed.