A computational human model for exploring the role of the feet in balance

Abstract Many studies concerning human balance use computational models that represent the body as a single, double, or triple inverted pendulum while ignoring the feet. Clinical research, however, has begun to more closely examine specific contributions of the feet in balance, leading to a disparity between the state of clinical research and the models used for simulation. Here, we expand the single inverted pendulum model by adding four additional rigid links to represent the feet. Model parameters, equations of motion, actuation based on human musculature, and control based on proprioception are discussed. Computation of ground reaction forces under the heel, forefoot, and toes is also addressed. Simulations focusing on the role of the toes and toe muscles in static balance and forward leaning are presented.