The stiffness of lower limb joints is a critical characteristic of walking. To investigate the potential of establishing a simple and universal model to describe the characteristics related to vertical vibration during human walking, vertical stiffness is introduced at the knee and hip. A multi-mass-spring model of the human body is established in the vertical direction. In the Fourier form, results of experiments on 14 healthy adults show that the vertical displacements of joints are a function of the leg length and walking cadence, while the ground reaction force is a function of the body weight and walking cadence. The obtained universal equations of vertical displacement and ground reaction force are employed as the input parameters to the proposed multi-mass-spring model. Thus, the vertical stiffness in the knee and hip can then be estimated simultaneously by the subject's weight, leg length, and walking cadence. The variation of vertical stiffness shows different time-varying trends in different gait phases across the entire gait cycle. Finally, the proposed model for vertical stiffness estimation is validated by the vertical oscillation of the pelvis. The average error across three gait cycles for all subjects is 20.48%, with a standard deviation of 5.44%. These results display that the vertical stiffness of knee and hip across the entire gait cycle can be directly estimated by individual parameters that are easy to measure. It provides a different view of human walking analysis and may be applied in future pathological gait recognition, bipedal robots, and lower limb exoskeletons.
Keywords: ground reaction force; knee and hip; lower limb; normal walking.