Variation of Parameters(Locomotion) Body Mass Properties(m, I)and Anthropometrics Male and female. 5%.50%.95% Values derived using GEBOD Horizontal velocity eArth=2-6 m/s(He et al., 1991) UMars=2-4 m/s (Newman et al., 1994; Wickman& Luna, 1996) Leg stiffness Ken =9-15 kN/m(He et al, 1991; Farley& Gonzalez, 1996; Viale et al., 1998) Gravity Earth G=g, Mars G= 3/8g(g=9.807 m/s2) Initial ankle angle: iteration until lowest point of hip trajectory occurs at x=0 (initial knee angle set to 5 deg)
Variation of Parameters (Locomotion) • Body Mass Properties (m, I) and Anthropometrics: Male and female, 5%, 50%, 95% Values derived using GEBOD • Horizontal velocity: uEarth = 2 - 6 m/s (He et al., 1991) uMars = 2 - 4 m/s (Newman et al., 1994; Wickman & Luna, 1996) • Leg stiffness: Kleg = 9 - 15 kN/m (He et al., 1991; Farley & Gonzalez, 1996; Viale et al., 1998) • Gravity: Earth G = g, Mars G = 3/8 g (g = 9.807 m/s2) • Initial ankle angle: iteration until lowest point of hip trajectory occurs at x=0 (initial knee angle set to 5 deg)
1.2 806 -0.8-0.6-04-0.2 0.4 0.6 Position(m)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 Position (m) dt Position (m)
Joint Position (50% Male) ankle(Earth) 120 ankle(Mars) p hip(Earth) knee(Earth) knee( Mars) 0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 Time(s)
Joint Position (50% Male) 0 20 40 60 80 100 120 140 0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 Time (s) Joint Angle (deg) ankle (Mars) ankle (Earth) knee (Earth) knee (Mars) hip (Earth) hip (Mars)
Joint Torque(50% Male) 400 knee(Mars) knee(Earth) hip( Mars) hip(Earth) 100 200 ankle(Earth) 400 ankle(Mars) 0. 0.10 12 Time(s)
Joint Torque (50% Male) -500 -400 -300 -200 -100 0 100 200 300 400 0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 Time (s) Torque (N-m) ankle (Mars) ankle (Earth) knee (Earth) knee (Mars) hip (Earth) hip (Mars)
Hip Force(50% Male) 2500 2000 1500 Total (Earth) 之1000 Total(Mars) 500 500 X(Earth) 1000 X(Mars) -1500 Y(Earth) 2000 Y(Mars) 2500 0.00 0.04 0.06 0.08 0.10 0.14 Time(s)
Hip Force (50% Male) -2500 -2000 -1500 -1000 -500 0 500 1000 1500 2000 2500 0.00 0.02 0.04 0.06 0.08 0.10 0.12 0.14 Time (s) Joint Contact Force (N) Total (Mars) Total (Earth) X (Earth) X (Mars) Y (Earth) Y (Mars)