Prediction of kinetics and kinematics of running animals using an analytical approximation to the planar spring-mass system

Abstract

The spring-mass model is often used to describe bouncing gaits. Although at first inspection the mechanical system appears simple, the solution to the motion cannot be derived easily. An analytical solution would provide a fast and intuitive method to determine the kinetic and kinematics of the centre of mass of terrestrial animals during over-ground steady state locomotion. Here, an analytical approximation using sine wave simplifications for the motion is presented. The analytical solution was almost indistinguishable from the numerical solution across initial leg angles of 17.5-30 degrees ; percentage differences between the analytical solution and the numerical solution were less than 1% for total mechanical energy, centre of mass position, total limb compression and centre of mass velocity and less than 2% different for resultant limb force and vertical acceleration of the centre of mass. The solution matched the relationship between stance time and speed collected from a trotting racehorse and accurately characterised previously published biological data. This study has shown that a simple analytical solution can predict the kinetics and kinematics of a spring-mass system over the range of biologically relevant sweep angles and horizontal velocities, and could be used to further understanding of limb deployment and gait selection. Using this analytical solution not only the force profile but also the changes in mechanical energy can be calculated from easily observed morphological and kinematic data.