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Biomim."],"published-print":{"date-parts":[[2024,7,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>The spring-loaded inverted pendulum (SLIP) model is an effective model to capture the essential dynamics during human walking and\/or running. However, most of the existing three-dimensional (3D) SLIP model does not explicitly account for human movement speed and frequency. To address this knowledge gap, this paper develops a new SLIP model, which includes a roller foot, massless spring, and concentrated mass. The governing equations-of-motion for the SLIP model during its double support phase are derived. It is noted that in the current formulation, the motion of the roller foot is prescribed; therefore, only the equations for the concentrated mass need to be solved. To yield model parameters leading to a periodic walking gait, a constrained optimization problem is formulated and solved using a gradient-based approach with a global search strategy. The optimization results show that when the attack angle ranges from 68\u00b0 to 74\u00b0, the 3D SLIP model can yield a periodic walking gait with walking speeds varying from 0.5 to 2.0 m s<jats:sup>\u22121<\/jats:sup>. The predicted human walking data are also compared with published experimental data, showing reasonable accuracy.<\/jats:p>","DOI":"10.1088\/1748-3190\/ad48ee","type":"journal-article","created":{"date-parts":[[2024,5,8]],"date-time":"2024-05-08T22:44:45Z","timestamp":1715208285000},"page":"046012","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":5,"title":["A three-dimensional spring-loaded inverted pendulum walking model considering human movement speed and frequency"],"prefix":"10.1088","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8774-5907","authenticated-orcid":true,"given":"Yu","family":"Bao","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao-wen","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2024,5,31]]},"reference":[{"key":"bbad48eebib1","first-page":"17","article-title":"The London Millennium Footbridge","volume":"79","author":"Low","year":"2001","journal-title":"Struct. 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