036073 Biomechanics of Human Movement – Homework Set No.

1
General information and instructions:
• This HW set accounts for 10% of the final grade.
• HW solutions should be submitted in groups of 2 students.
• HW solutions must be submitted on Moodle by 1/12/22 at midnight.
• By submitting this HW, you declare that they reflect your own original work.
• Please attach all the source code files used for calculations or creating plots along with the main
document, and submit everything together as one Zip file.
• Include your formulas/equations/calculations in the text and not only in the code.
• If you use data from an external source (book/ paper/ website), cite your reference.
• If you use data you measured by yourself, include an image showing the measurement.

Problem No. 1: Rearfoot Strike vs. Forefoot Strike Running GRFs (20%)
In lecture 2, we reviewed two common foot strike patterns during running: rearfoot striking (RFS),
characterized by landing on the heel of the foot, and forefoot striking (FFS). In this problem, you will
examine the how the differences in GRFs for these two running patterns affect the kinetic and
gravitational potential energy of the center of mass (COM). The provided files (GRF_RFS.csv and
GRF_FFS.csv) contain the GRFs during one gait cycle of RFS running and FFS running from a 54.7
kg runner. The first column of the provided matrices represents time in seconds, and the 2nd, 3rd and 4th
columns are the fore–aft, medio–lateral, and vertical components of the GRF, respectively.
a. Using the data provided and the expressions we derived in class, calculate the fore–aft
kinetic energy and gravitational potential energy of the COM over the gait cycle during
RFS and FFS running. Assume that for both running patterns the initial fore–aft velocity of
the COM is 3.15 m/s and the initial height of the COM is 1 m. The initial vertical velocity of
the COM is -0.55 m/s for RFS and -0.41 m/s for FFS. The. Write the equations you used
for calculations and plot all the energy curves in one plot, as a function of percent of the
gait cycle (in percentages from 0 to 100). (14%)
b. Discuss how does foot strike pattern affect the kinetic and gravitational potential energy of
the COM in the data you received. (3%)
c. During running, gravitational potential energy and kinetic energy of the COM are in phase,
therefore runners do not benefit from the exchange of these two forms of energy. What
other source of energy is involved in running that explains this phenomenon? (3%)

Problem No. 2: Inverted Pendulum walking model (30%)

In lecture 2, we derived the expressions for the positions and GRFs of the mass for the ballistic (inverted
pendulum) model. Use these expressions to:
a. Plot the vertical position as a function of the angle 𝜃𝜃, from the initial angle 𝜃𝜃(0) = 120° to the
final angle 𝜃𝜃�𝑡𝑡𝑓𝑓 � = 70° (these angles are “equivalent” to 30 degrees hip flexion to 20 degrees
hip extension during stance, which is similar to the hip angles observed during normal gait).
Assume: 𝐿𝐿 = 1 𝑚𝑚, 𝑚𝑚 = 60 𝑘𝑘𝑘𝑘, and constant angular velocity 𝜃𝜃̇ = −1 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 , 𝜃𝜃̈ = 0 and
discuss how the plot relates to the motion of the center of mass (CoM) in walking that we have
seen in class. What is similar/different? (10%)
b. For the constants given in part (a), plot the vertical GRF normalized by the bodyweight, and
discuss how this plot compares to the plot of the vertical GRF in walking. What is
similar/different? (10%)
 c. Now assuming the angular acceleration is non-zero, derive the equation for the GRF as a
function of the angle, and plot the vertical normalized GRF for the case of a constant angular
acceleration 𝜃𝜃̈ = −1 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠 2 , initial angular velocity 𝜃𝜃̇ (𝑡𝑡 = 0) = −1 𝑟𝑟𝑟𝑟𝑟𝑟⁄𝑠𝑠, and initial and
final angles: 𝜃𝜃(𝑡𝑡 = 0) = 120°, 𝜃𝜃�𝑡𝑡 = 𝑡𝑡𝑓𝑓 � = 70°. What is the final time 𝑡𝑡𝑓𝑓 ? (10%)

Problem No. 3: Spring-Mass running model (35%)

In lecture 2, we derived the equations for hopping using a spring-mass model. Use them to answer:
a. For hopping with zero forward speed, what is the maximum velocity during stance and
when is it reached? What is the force exerted by the spring at this moment? (5%)
b. Derive the equations for hopping forward for a system with a point mass 𝑚𝑚, a massless
spring with length 𝑙𝑙, and linear stiffness 𝑘𝑘. Derive the equations of motion in terms of the
horizontal and vertical coordinates x (forward) and y (upwards). Assume that at the moment
of landing (touch down) the velocity vector is known. (15%)
c. Based on the equations in (b), solve and plot the values of the vertical and horizontal mass
displacements and GRFs as a function of the stance time for 𝐿𝐿 = 1 𝑚𝑚, 𝑚𝑚 = 60 𝑘𝑘𝑘𝑘, 𝑘𝑘 =
𝑘𝑘𝑘𝑘 𝑚𝑚 𝑚𝑚
70 , 𝑣𝑣𝑥𝑥 =6 , 𝑣𝑣𝑦𝑦 = −1 , where 𝒗𝒗 is the velocity vector at touchdown, x is the direction
𝑚𝑚 𝑠𝑠 𝑠𝑠
of hopping forward, and y is directed upwards, during the stance phase. Note that the
results may depend on the landing angle that you choose (15%).
Hint: you can use ready-to-use numerical solvers for solving the coupled equations.
d. Bonus: can you find the landing angle which leads to stable forward hopping (including
the flight phase). Solve and plot the motion of the hopper during several cycles. (10%
bonus).

Problem No. 4: Triceps muscle force (15%)

What is the force exerted by the triceps brachii in holding a 30 kg weight using the pulley handle in this
configuration? ignore the influence of friction in the pulley, assume both arms contribute equally to the
task, and assume that the upper arm and triceps muscles always remain vertical. The distance along the
forearm, between the elbow joint axis and the triceps attachment point is 2.7 cm.
a. With the forearm parallel to the floor and the elbow bent at a right angle? (5%)
b. With the forearm at a 30˚ angle upward relative to the ground? (5%)
c. Explain what caused the results in (a) and (b) to be the same/different, and which simplifying
factors may change them. (5%)