HUMAN WALKING TORQUES REFERENCE SHEET
Based on Data found in Chapter 4 of Human Walking.
CL Simulation Data
For a dan, For a proposed robot,Simulated bot(55lbs)**Leg Length ~ 1.0mLeg Length ~1mLeg Length ~0.96mBody Weight ~ 793.8N(178 lbs)Body Weight ~220N(50lbs)Body Weight ~245N(55lbs)
TorqueTorqueTorqueMaxchartfor a Danfor a robotfrom simulationTorquevalue(p91)(Nm)(Nm)(Nm)
Hip Flex/Extension (Pitch)-0.14-111.1-30.820.0Ab/Adduction (Roll)-0.08-63.5-17.6-40.0In/External (Yaw)0.017.92.213.0ESA***ESA***ESA***Knee Flex/Extension0.0971.478.619.878.620.0Ankle Dorsi/Plantarflexion (~Pitch)0.15119.133.042.0Ab/Adduction (Roll)0.0539.711.011.0Chart values are means based on population sampling. Standard deviation for normalized torques is roughly 10%.* See Human Walking, Chapter 4, page 91.***Equivalent static angle with peak knee torque => 18" thigh. (90 - angle) is thigh off vertical.** Simulation from 12/98. Filename M2_inf1.dat.
AVERAGE STEP LENGTH(STRIDE LENGTH) AND WALKING SPEED
see tables 2.3(page 29) and 3.6(page 61)Is it the distance between the right and left leg heel strikes or the distancebetween consecutive right leg heel strikes?1.3 to 1.5 m/s is average speed. 75 - 90 m/min.stride length(one leg heel strike to heel strike) is about 1.53 to 1.59 meters.Cadence is about 105-120 steps/min. Here step is heel to heel for opposite feet.
TORQUE APPLICATION FREQUENCY & ACTUATOR CYCLE LIFE
For an individual leg, step frequency is roughly 1 Hz. 60% of the time is stance and 40% is swing.During stance, torque application occurs pretty smoothly with roughly 2 cycles.Let's calculate it for 3 cycles to be safe.To estimate actuator fatigue, assume 3 cycles per leg step. Assume each stride(on leg heel to heel) is about 1 sec.One hour of walking would result in 10,800 cycles. 40 hours of walking, 432,000 cycles.
Unnormalized data from charts*
displaying (Joint Torque) / [(Body Weight)*(Leg Length)]
note
: be wary of the definition of "step".
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