A spring-loaded inverted pendulum model for analysis of human-structure interaction on vibrating surfaces

• Published in: Journal of sound and vibration Vol. 522; p. 116727
• Main Authors: Yang, Haowen, Wu, Bin, Li, Jinping, Bao, Yu, Xu, Guoshan
• Format: Journal Article
• Language: English
• Published: Amsterdam Elsevier Ltd 31.03.2022; Elsevier Science Ltd
• Subjects: Control methods; Damping; Earthquake; Excitation; Feedback control; Human running model; Human-structure interaction; Mathematical models; Numerical analysis; Pendulums; Robust control; Running; Seismic engineering; Shake table tests; Simulation; Spring-loaded inverted pendulum; Treadmills; Spring-loaded inverted pendulum; Human-structure interaction; Feedback control; Human running model; Earthquake
• ISSN: 0022-460X; 1095-8568
• DOI: 10.1016/j.jsv.2021.116727

•Propose a 3-D running model for analyzing the human-structure interaction.•Numerical results on running model reveal the robustness of control method.•Shaking table tests were conducted with participants running on a vibrating treadmill.•Investigate human-structure interaction in the lateral and longitudinal directions.•The model describes human behaviors well on both stationary and moving treadmill. Human-structure interaction (HSI) issues have gained increasing attention from researchers. In the present paper, a 3-D spring-loaded inverted pendulum (SLIP) model is established for modeling human running on vibrating surfaces. PD control for the leg force and foot moment is employed to achieve the desired values for the height and forward running speed of the center of mass, and P control is used to maintain limited lateral speed. Numerical results show the robustness of the control methods which are stable even subjected to large disturbances, and the effects of different control parameters are analyzed. Shaking table tests were conducted in which the participants ran on a treadmill excited laterally or longitudinally by a shaking table. The test results show that the HSI increased with the excitation level, and synchronizations were observed mainly in the cases of longitudinal excitations. The HSI can be interpreted as an equivalent additional mass and negative damping for the lateral direction, while additional mass for the longitudinal direction. The numerical simulations are compared with the experiments, and it demonstrates that the model describing human behaviors agrees well on both the stationary and moving treadmill (i.e. subjected to excitation).