Predictive simulation of human walking transitions using an optimization formulation

A general optimization formulation for transition walking prediction using 3D skeletal model is presented. The formulation is based on a previously presented one‐step walking formulation (Xiang, 2009b). Two basic transitions are studied: walk‐to‐stand and slow‐to‐fast walk. The slow‐to‐fast transition is used to connect slow walk to fast walk by using a step‐to‐step transition formulation. In addition, the speed effects on the walk‐to‐stand motion are investigated. The joint torques and ground reaction forces (GRF) are recovered and analyzed from the simulation. For slow‐to‐fast walk transition, the predicted ground reaction forces in step transition is even larger than that of the fast walk. The model shows good correlation with the experimental data for the lower extremities except for the standing ankle profile. The optimal solution of transition simulation is obtained in a few minutes by using predictive dynamics method.