Angular Momentum About the Total
Body Center of Mass Computed
at Different Speeds
Dan Ioan Stoia, Cosmina Vigaru, Andreea Nicoara, and Nicolae Herisanu
Abstract 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.
1 Introduction
The determination of human kinetic parameters starting from kinematical data
represents a permanent concern among authors [1–4].
The angular momentum is a kinetic parameter which can be computed relying on
kinematical data and on mass distribution in the body. Some researches’ concern
is on computing the angular momentum during walking respecting the ground
D. I. Stoia (B) · C. Vigaru · A. Nicoara · N. Herisanu
Department of Mechanics and Strength of Materials, Politehnica University Timisoara, Timisoara,
Romania
e-mail: dan.stoia@upt.ro
C. Vigaru
e-mail: cosmina.vigaru@upt.ro
A. Nicoara
e-mail: andreean9@yahoo.com
N. Herisanu
e-mail: nicolae_herisanu@yahoo.com
© Springer Nature Switzerland AG 2021
N. Herisanu and V. Marinca (eds.), Acoustics and Vibration of Mechanical
Structures—AVMS 2019, Springer Proceedings in Physics 251,
https://doi.org/10.1007/978-3-030-54136-1_21
227
Body Center of Mass Computed
at Different Speeds
Dan Ioan Stoia, Cosmina Vigaru, Andreea Nicoara, and Nicolae Herisanu
Abstract 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.
1 Introduction
The determination of human kinetic parameters starting from kinematical data
represents a permanent concern among authors [1–4].
The angular momentum is a kinetic parameter which can be computed relying on
kinematical data and on mass distribution in the body. Some researches’ concern
is on computing the angular momentum during walking respecting the ground
D. I. Stoia (B) · C. Vigaru · A. Nicoara · N. Herisanu
Department of Mechanics and Strength of Materials, Politehnica University Timisoara, Timisoara,
Romania
e-mail: dan.stoia@upt.ro
C. Vigaru
e-mail: cosmina.vigaru@upt.ro
A. Nicoara
e-mail: andreean9@yahoo.com
N. Herisanu
e-mail: nicolae_herisanu@yahoo.com
© Springer Nature Switzerland AG 2021
N. Herisanu and V. Marinca (eds.), Acoustics and Vibration of Mechanical
Structures—AVMS 2019, Springer Proceedings in Physics 251,
https://doi.org/10.1007/978-3-030-54136-1_21
227