A human being model is very complex and full reproduction of its kinematic structure is a difficult task. The main objective of this paper is to identify a minimal mechanism of the human upper part able to replace it during the walk. A virtual mannequin was built and dynamic simulations are carried out. A dynamic equivalence based on approach is used to identify this mechanism. Simulation results proved that a four dofs mechanism is necessary and sufficient to reproduce human upper part dynamic effects during walking gait. Simplicity of design and control led us to adopt an RPPP mechanism. Future work concerns a full design of the RPPP mechanism. Mounted on a ROBIAN biped locomotion system, dynamic walk experiments are demonstrated.
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