A regular sport activity, especially walking or jogging, has always been considered beneficial for the preservation of good health. To avoid injuries sports equipment used must be suited to the level of performance and age of each individual. With the development of larger and larger modeling capabilities, the designers of sports articles are now looking for systemic approaches that integrate a realistic, but yet simplified, model of human body. Our work aims at developing a simple design tool for walking or running shoes, and we focus on the one hand on a better representation of the kinematics and kinetics of the human body during these movements and on the other hand to interactions of human body with shoes in the objective of improving the comfort of users and limit the effects of repeated impacts on the human body. We first focus on simplified mass-spring-damper models that we validate by more complex models or experimental measurements. In a previous work, we presented a purely vertical model that we have coupled with a realistic model of shoe and ground. Now we extend this approach to a bipedal multibody model to better describe the various kinetics of locomotion. Given control parameters (set or identified from measurements), the model allows to generate a natural autonomous walking.
