Biomechanical criterion of dynamic stability based on ZMP formula and Flash-Hogan principle of minimum jerk
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Warsaw University of Technology, Faculty of Mechatronics, Warsaw, Poland
Lodz University of Technology, Faculty of Mechanical Engineering, Lodz, Poland
Grzegorz Ilewicz   

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
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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