Since 1963
ARTICLE
Biomechanical criterion of dynamic stability based on ZMP formula and Flash-Hogan principle of minimum jerk
| 1 | Warsaw University of Technology, Faculty of Mechatronics, Warsaw, Poland |
| 2 | Lodz University of Technology, Faculty of Mechanical Engineering, Lodz, Poland |
CORRESPONDING AUTHOR
Grzegorz Ilewicz
Faculty of Mechatronics, Institute of Micromechanics and Photonics, Warsaw University of Technology, św. Andrzeja Boboli 8, 02-525, Warszawa, Poland
Faculty of Mechatronics, Institute of Micromechanics and Photonics, Warsaw University of Technology, św. Andrzeja Boboli 8, 02-525, Warszawa, Poland
Submission date: 2022-04-19
Final revision date: 2022-09-22
Acceptance date: 2022-09-30
Online publication date: 2022-12-13
Publication date: 2023-01-30
Journal of Theoretical and Applied Mechanics 2023;61(1):3–9
KEYWORDS
TOPICS
ABSTRACT
The main aim of the article is to define a criterion of dynamic stability based on the Flash-
Hogan principle and the ZMP method. The gait researches were focused on analysis and
observation of the human biomechanism with the optical system Optitrack. The smooth
reference trajectory is defined forming a stability pattern. The optimal, due to the minimum
jerk criterion, ZMP trajectory is illustrated in the results Section in order to demonstrate the
dynamic stability pattern for the needs of rehabilitation in cases of neuromuscular damage
or injuries affecting gait stability.
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