Modelling and Analysis of the falling Process Based on a Five-Link Gait Model

In this paper we develop a dynamic model to mimic and simulate human falling process when tripping over an obstacle. The work consists of three parts. First a five-link gait model is established and the joint trajectories of knee and hip are generated. Next several constraints including the physical, physiological and environmental constraints are taken into consideration. Hence the fall process can be modelled in a realistic manner. Next a number of important factors that characterize the fall process, such as reaction time, inclining angle, stable range, initial speed, are investigated. The whole falling process is formulated according to biological characteristics and stability analysis, which offers an effective way to identify and distinguish falling from normal activities, so that the falling can be predicted and a prevention device can be activated in advance.