HUMAN WALKING TORQUES REFERENCE SHEET

Based on Data found in Chapter 4 of Human Walking.

Unnormalized data from charts* displaying (Joint Torque) / [(Body Weight)*(Leg Length)] CL Simulation Data
For a dan, For a proposed robot, Simulated bot(55lbs)**
Leg Length ~ 1.0 m Leg Length ~ 1m Leg Length ~ 0.96 m
Body Weight ~ 793.8 N (178 lbs) Body Weight ~ 220 N (50lbs) Body Weight ~ 245 N (55lbs)
Torque Torque Torque
Max chart for a Dan for a robot from simulation
Torque value(p91) (Nm) (Nm) (Nm)
Hip Flex/Extension (Pitch) -0.14 -111.1 -30.8 20.0
Ab/Adduction (Roll) -0.08 -63.5 -17.6 -40.0
In/External (Yaw) 0.01 7.9 2.2 13.0
ESA*** ESA*** ESA***
Knee Flex/Extension 0.09 71.4 78.6 19.8 78.6 20.0

Ankle Dorsi/Plantarflexion (~Pitch) 0.15 119.1 33.0 42.0

Ab/Adduction (Roll) 0.05 39.7 11.0 11.0
Chart values are means based on population sampling. Standard deviation for normalized torques is roughly 10%.
* See Human Walking, Chapter 4, page 91.
***Equivalent static angle with peak knee torque => 18" thigh. (90 - angle) is thigh off vertical.
** Simulation from 12/98. Filename M2_inf1.dat.
AVERAGE STEP LENGTH(STRIDE LENGTH) AND WALKING SPEED
see tables 2.3(page 29) and 3.6(page 61) note: be wary of the definition of "step".
Is it the distance between the right and left leg heel strikes or the distance
between consecutive right leg heel strikes?
1.3 to 1.5 m/s is average speed. 75 - 90 m/min.
stride length(one leg heel strike to heel strike) is about 1.53 to 1.59 meters.
Cadence is about 105-120 steps/min. Here step is heel to heel for opposite feet.

TORQUE APPLICATION FREQUENCY & ACTUATOR CYCLE LIFE

For an individual leg, step frequency is roughly 1 Hz. 60% of the time is stance and 40% is swing.
During stance, torque application occurs pretty smoothly with roughly 2 cycles.
Let's calculate it for 3 cycles to be safe.
To estimate actuator fatigue, assume 3 cycles per leg step. Assume each stride(on leg heel to heel) is about 1 sec.
One hour of walking would result in 10,800 cycles. 40 hours of walking, 432,000 cycles.
BIPED WALKING REFERENCE
Positions, velocities, torques and power (non concurrent maximums)
"Human Walking" "Biomechanics and motor control…"
deg rad/s T(Nm) watts deg rad/s T(Nm) watts
txw txw
Hip
Flex/Ext (Pitch)* 30 -18 3.6 -2.0 -111.0 56 26 -26 3.7 -1.7 -54.0 51
Ab/Add (Roll) 8 -7 1.6 -1.0 -63.5
In/Ext (Yaw)* 5 -15 4.0 -3.0 8.0
Knee
Flex/Ext 68 8 5.8 -7.8 71.4 -79.5 67 0 6.7 -7.2 -38.0 -63
Ankle
Dorsi/Plan (~Pitch) 10 -15 3.0 -4.2 120.0 280 7 -20 2.9 -4.5 90.0 270
Ab/Add (Roll) na na 40.0
power unnormalized for a 180lb person. 130 lb person ~120 steps/min

M2(M2_inf1.dat) Spring Flamingo(lap8.dat)

deg rad/s T(Nm) watts deg rad/s T(Nm) watts
txw txw
Hip
Flex/Ext (Pitch)* 30 -27 1.6 -4.5 -20.0 40 28 -14 4.5 -2.0 -20.0 20
Ab/Add (Roll) 8 -2 0.8 -0.9 -40.0
In/Ext (Yaw)* 3.5 -7.5 2.0 -2.0 13.0
Knee
Flex/Ext 64 0 7.0 -5.2 20.0 -35 55 0 5.0 -5.5 -8.0 -9
Ankle
Dorsi/Plan (~Pitch) 20 -30 5.0 -7.1 42.0 46 12 -14 2.0 -4.0 -3.0 2
Ab/Add (Roll) 1 -6 9.1 -3.8 11.0
~55 lb simulation w/ 12/98 parameters ~25 lb robot with light legs
Human knee orientation Human knee orientation
* For yaw we will consider the total effects of yaw in the hip, thigh and shin.
For hip Pitch we also consider the effect of pelvic tilt,
which is non-existant in the robot and therefore must be accounted for with greater range of motion in pitch.
POWER CONSUMPTION IN AVERAGE SPEED WALKING
Power consumption is on the order of 4 Watts/kg for a comfortable walking speed.(~80 m/min)
The human body is roughly 25% in normal walking so mechanical power is roughly 1 W/kg.
Therefore a 180lb person takes roughly 80 Watts mechanical to walk at a comfortable pace.
The comfortable pace adopted generally tends to agree with the theoretically most efficient walk.