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This study investigates approaches to determining foot reaction forces during walking, analyzing data obtained from both a standard dynamometric platform and inertial sensors. The analysis revealed that, in the latter case, three-point impulse patterns are recorded, in contrast to the two-point patterns observed with the dynamometric platform. In subsequent research, the impulse models were expressed in the basis of generalized Hermite functions. The findings are recommended for application in modeling the dynamics of bipedal gait, as well as in the design of supporting elements for ankle orthoses and bipedal robots.

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Experimental and Analytical Determination of Reactions in Phases of Impact-Friction Interaction of the Foot with the Supporting Surface

  • 会议论文

  • 发表日期：

    2026年

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  • Victor Michailovich Musalimov,
  • Elena Borisovna Sedakova,
  • Mikhail Aleksandrovich Erofeev,
  • Artem Olegovich Kuznetsov

摘要

This study investigates approaches to determining foot reaction forces during walking, analyzing data obtained from both a standard dynamometric platform and inertial sensors. The analysis revealed that, in the latter case, three-point impulse patterns are recorded, in contrast to the two-point patterns observed with the dynamometric platform. In subsequent research, the impulse models were expressed in the basis of generalized Hermite functions. The findings are recommended for application in modeling the dynamics of bipedal gait, as well as in the design of supporting elements for ankle orthoses and bipedal robots.