Method for replicating lower limb movements using center of gravity analysis and parameters of a single lower limb

Abstract

The invention relates to a method for replicating lower limb movements which can be applied in various fields, including medical rehabilitation, sports biomechanics, robotics and digital simulations. According to the invention, the method is based on taking over the movement parameters from a single lower limb and processing them in correlation with the analysis of the body center of gravity to generate the parameters necessary for the replicated movement of the other lower limb, in which the approximated trajectory of the center of gravity is estimated based on data sampling from inertial sensors placed on the foot sole or from a device placed at the abdominal level, according to a physical-mathematical model in which the center of gravity behaves like a pendulum which performs two perpendicular movements: a vertical one and a classic pendular one.