Sharif Shourijeh, MohammadMcPhee, John2017-04-172017-04-172015-12https://doi.org/10.1007/s11044-015-9467-6http://hdl.handle.net/10012/11675The final publication is available at Springer via http://dx.doi.org/10.1007/s11044-015-9467-6This study describes the development of a multibody foot–ground contact model consisting of spherical volumetric models for the surfaces of the foot. The developed model is two-dimensional and consists of two segments, the hind-foot, mid-foot, and fore-foot as one rigid body and the phalanges collectively as the second rigid body. The model has four degrees of freedom: ankle x and y, foot orientation, and metatarsal-phalangeal joint angle. Three different types of contact elements are targeted: Kelvin–Voigt, linear volumetric, and hyper-volumetric. The models are kinematically driven at the ankle and the metatarsal joints, and simulated horizontal and vertical ground reaction forces as well as center of pressure location are compared against experimental quantities acquired from barefoot measurements during a human gait cycle. Parameter identification is performed for finding optimal contact parameters and locations of the contact elements. The hyper-volumetric foot–ground contact model was found to be a suitable choice for foot/ground interaction modeling within human gait simulations; this model showed 75 % and 62 % improvement on the matching quality over the point contact and linear volumetric models, respectively.enFoot-ground contactGaitVolumetric contact modelingArticle