Mathematical Model of the Movement of the Human Limbs

We present a model of the human walking based on the well known model of double pendulum moving in a plane under the influence of gravity. For constructing the pendulum we use data for the average value of masses of the thigh and shank, as well as for their inertial moments, centers of masses and densities taken from a representative study of the Bulgarian males. We derived the corresponding differential equations governing the model and solved them numerically. We have shown that for moderate initial values of the angles and the angular velocities, describing the system, one has a regular reasonably looking movement of the pendulum resembling that one of the actual walking of humans.