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Suspending loads decreases load stability but may slightly improve body stability
Jeffrey Ackerman1, Karna Potwar1, Justin Seipel1
1School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, United States.
Journal of Biomechanics
|January 18, 2017
Summary
Highly compliant load suspension can destabilize the carried load but may improve the body
Area of Science:
- Biomechanics
- Robotics
- Human Factors Engineering
Background:
- Legged locomotion involves complex dynamic stability challenges.
- Carrying loads significantly impacts locomotion dynamics and stability.
- Previous models accurately predicted body forces and energetic costs of load carriage.
Purpose of the Study:
- To investigate the effect of compliant load suspension on dynamic stability during legged locomotion.
- To theoretically model human load carriage using advanced biomechanical models.
- To quantify the trade-offs between load stability and body stability.
Main Methods:
- Utilized a coupled spring-mass-damper model for the load.
- Employed an actuated spring-loaded inverted pendulum model for the body.
- Theoretically analyzed dynamic stability under varying suspension parameters (natural frequency, damping ratio).
Main Results:
- Minimizing suspension natural frequency and damping ratio destabilized the load mass.
- A compliant suspension slightly improved the dynamic stability of the body's locomotion.
- A trade-off exists between load stability and body stability.
Conclusions:
- Highly compliant load suspension can enhance body stability during locomotion.
- This enhancement comes at the cost of reduced load stability, leading to more awkward motion.
- Findings have implications for designing stable load carriage systems for humans, animals, and robots.
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