Hof A L, Otten E
Institute of Human Movement Science, University of Groningen, The Netherlands.
Gait Posture. 2005 Nov;22(3):182-8. doi: 10.1016/j.gaitpost.2004.08.007. Epub 2004 Dec 7.
A simple algorithm is presented to calculate the induced accelerations of body segments in human walking for the sagittal plane. The method essentially consists of setting up 2x4 force equations, 4 moment equations, 2x3 joint constraint equations and two constraints related to the foot-ground interaction. Data needed for the equations are, next to masses and moments of inertia, the positions of ankle, knee and hip. This set of equations is put in the form of an 18x18 matrix or 20x20 matrix, the solution of which can be found by inversion. By applying input vectors related to gravity, to centripetal accelerations or to muscle moments, the 'induced' accelerations and reaction forces related to these inputs can be found separately. The method was tested for walking in one subject. Good agreement was found with published results obtained by much more complicated three-dimensional forward dynamic models.
提出了一种简单的算法来计算人体矢状面行走时身体各节段的诱导加速度。该方法主要包括建立2×4个力方程、4个力矩方程、2×3个关节约束方程以及两个与足-地相互作用相关的约束条件。除了质量和转动惯量外，这些方程所需的数据还包括踝关节、膝关节和髋关节的位置。这组方程被写成18×18矩阵或20×20矩阵的形式，通过求逆可以得到其解。通过应用与重力、向心加速度或肌肉力矩相关的输入向量，可以分别求出与这些输入相关的“诱导”加速度和反作用力。该方法在一名受试者的行走中进行了测试。结果发现与通过复杂得多的三维正向动力学模型获得的已发表结果吻合良好。
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