LEG-RANGIAN MECHANICS Applying Variational Methods to Gait Analysis and Shoe Design

Ramya Mahalingam & Kelly Hering

ENGN01370: Advanced Engineering Mechanics Spring 2013

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PROBLEM STATEMENT
- Analysis of toning shoes has yielded good results - In practice they have injured many of their users - We want to expand the current theoretical models

BACKGROUND INFO

Three ways to study new shoe designs: 1. analytical methods (Boes et al.) 2. force plates (Boes et al. ) 3. exercise trials (ACE)

CONCLUSIONS:

Important Variables: 1. Ankle Angle 2. Potential Energy 3. Muscle Activation, Heart Rate, Oxygen Levels

Boes et al. : toning shoes increase ankle angle and required energy per step ACE: toning shoes did not produce an increased exercise response or muscle activation

to Modeling Gait as a Mechanical System

APPROACHES

ASSUMPTIONS
Hip Joint modeled as mass on a hoop

Knee Joint neglected only relevant mass

Mid-stance to Push-off

Rocker Bottom modeled as semicircular

THE WONDERS OF PHYSION

Angle Designation

Mass & Length Designation

Defining the system....

x(t) = R(t) sin((t)) + L sin((t)) + f cos( (t)) y (t) = R(t) cos((t)) + L cos((t)) + f sin( (t))

Defining the system....

x(t) = R(t) sin((t)) + L sin((t)) + f cos( (t)) y (t) = R(t) cos((t)) + L cos((t)) + f sin( (t))

T =

m 2 ( x 2

+y )

U = mgy

L=T

Defining the system....

x(t) = R(t) sin((t)) + L sin((t)) + f cos( (t)) y (t) = R(t) cos((t)) + L cos((t)) + f sin( (t))

T =

m 2 ( x 2

+y )

U = mgy

L=T

L = mg (L cos() + cos()R + f sin( )) m )2 + cos()R + 2 (L cos() f sin( ) + sin()R )2 R sin() + ( L sin() + f cos( ) + cos()R

CONSTRAINTS
g R = R ( t) R0 = 0

gy = R cos((t)) + L cos((t)) + f sin( (t)) + f

gx = R sin((t)) L sin((t)) + f cos( (t)) f

H=0
f =0

CONSTRAINTS
g R = R ( t) R0 = 0

gy = R cos((t)) + L cos((t)) + f sin( (t)) + f

gx = R sin((t)) L sin((t)) + f cos( (t)) f

H=0
f =0

EULER - LEGRANGE EQUATIONS

@L @
@L @

@d @L @t @
@d @L @t @

+
+

@ gx 1 @
@ gx 1 @

+
+

@ gy 2 @
@ gy 2 @

+
+

@ gR 3 @
@ gR 3 @

=0
=0

@L @
@L @R

@d @L @t @
@d @L @t @R

+
+

@ gx 1 @
@ gx 1 @R

+
+

@ gy 2 @
@ gy 2 @R

+
+

@ gR 3 @
@ gR 3 @R

=0
=0

EULER - LEGRANGE EQUATIONS

@L @
@L @

@d @L @t @
@d @L @t @

+
+

@ gx 1 @
@ gx 1 @

+
+

@ gy 2 @
@ gy 2 @

+
+

@ gR 3 @
@ gR 3 @

=0
=0

@L @
@L @R

@d @L @t @
@d @L @t @R

+
+

@ gx 1 @
@ gx 1 @R

+
+

@ gy 2 @
@ gy 2 @R

+
+

@ gR 3 @
@ gR 3 @R

=0
=0
reaction force at the hip joint

mR( g sin() 2 2 Lsin( )) + 2R f cos( + ) + f sin( + ) ) = 0 Lcos( ) + R

L 1 cos() L 2 sin() Lm( g sin() 2 2 + 2cos( )R + Rsin( ) f cos( + ) f sin( + ) ) = 0 + L sin( )R + cos( )R f 2 cos( ) + 1 ( f f sin( )) f m(g cos( ) 2 2 L cos( + ) 2 sin( + )R cos( + )R + f ) = 0 L sin( + ) + cos( + )R R sin( + ) + 2 cos() + 1 sin() m(g cos() 2 2 2 L cos( ) R f sin( + ) L sin( ) +R + f cos( + ) ) = 0
3

1 cos( )R

2 Rsin( )

SOL VING FOR REACTION FORCE @ THE HIP

3

2 cos( )

+L cos( + L sin( R

sin() m(g cos() 2 + f sin( + ) 2 ) 2 + R

1

f cos( + ) )

CLEARLY TOEING THE LINE WITH A SEMICIRCULAR SOLE

What shape would give you a foothold in the shoe industry?

PARAMETRIZATION OF SHOE BOTTOM

Semicircular

PARAMETRIZATION OF SHOE BOTTOM

Curvilinear

PARAMETRIZATION OF SHOE BOTTOM

Curvilinear

r = f( )

PARAMETRIZATION OF SHOE BOTTOM

Curvilinear

r = f( )
sin( ) + r cos( ) dy = dx dr cos( ) r sin( ) d
dr d

PARAMETRIZATION OF SHOE BOTTOM

Curvilinear

r = f( )
sin( ) + r cos( ) dy = dx dr cos( ) r sin( ) d
dr d

dy rise tangent = = = tan( ) dx run

PARAMETRIZATION OF SHOE BOTTOM

Curvilinear

tan( ) =

dr d dr d

sin( ) + r cos( ) cos( ) r sin( )

HOW DOES THIS CHANGE THE CONSTRAINING EQUATIONS?

gx = R sin((t)) L sin((t)) + f cos( (t)) f f =0
H=0

gy = R cos((t)) + L cos((t)) + f sin( (t)) + f

HOW DOES THIS CHANGE THE CONSTRAINING EQUATIONS?

gx = R sin() r( ) sin(90 + L sin() + f cos( )s (f )
Z r2
i

r( i )cos( i ))
=0

dr 2 +( ) d d

gy = R cos((t)) + L cos((t)) + f sin( (t)) + f

H=0

HOW DOES THIS CHANGE THE CONSTRAINING EQUATIONS?

gx = R sin() r( ) sin(90 + L sin() + f cos( )s (f )
Z r2
i

r( i )cos( i ))
=0
) H=0

dr 2 +( ) d d

gy = R cos() + L cos() + f sin( ) + r( ) cos(90 +

[L.] E.G.: PARAMETRIZATION

r( ) =

dr =1 d

dy = tan( ) = dx

dr d dr d

sin( ) + r cos( ) cos( ) r sin( )

=0
=
i

cos( i) sin( i) +

i sin( i)

cos( ) i i

=0

180 4.913 = 281.49 deg

FUTURE INVESTIGATIONS

Entire Stance Phase Vertical Movement of Hip Knee Joint Translational Motion of Hip Reaction Forces on All Joints Optimize Parametrization for Ideal Reaction Forces Figure out How to Get Kim Kardashian on Board

REFERENCES

QUESTIONS?