Abstract: In order to study the normal human gait, the kinetic simulation and analysis of the lower limb are carried out by Simulink/SimMechanics. Firstly, the kinetic simulation model is built based on the two-linkage mechanism, and the model parameters are set. The results of the simulation are consistent with the inverse dynamic results obtained by Lagrange equation, which validates the correctness of the model. Then based on the two-linkage model, a model of an unilateral lower limb under normal gait is established. And the effectiveness of the model and the influence of ground reaction force on the normal gait is analyzed. The experimental results show that the total torque area of the lower limb under normal force simulation is 23% of the total torque area of overground experiment, which proves that the model is effective. And the total torque area deviation obtained from the simulation with and without ground force reaction is 89%, indicating that the ground reaction has important influence on the normal walking gait.

Key words: Simulink/SimMechanics, kinetics, simulation, gait analysis, ground reaction force