Can a simple model reveal the secrets of efficient walking? This study modifies a basic passive dynamic walking model to explore the energetics of powered locomotion on level ground, aiming to understand the preferred relationship between speed and step length in humans. The research focuses on applying impulses and torques to simulate powered walking, analyzing the energy costs associated with each method. The study found that applying an impulse at toe-off is significantly more efficient than applying a torque on the stance leg due to reduced collision loss at heel strike. Furthermore, the application of a hip torque on the swing leg, mimicking spring-like actuation, can further improve walking energetics by tuning its frequency and reducing collision loss. The findings lead to a set of power laws relating toe-off impulses and spring constant to gait speed and step length. These results offer valuable insights into the mechanics of human walking and can inform the design of more efficient prosthetic devices and robotic systems.
Published in the Journal of Biomechanical Engineering, this paper aligns perfectly with the journal’s focus on applying engineering principles to biological systems. The study contributes to the understanding of human movement and energetics, a central theme in biomechanical engineering, by presenting a simplified model to analyze the complexities of powered walking.