Villarreal Dario J, Quintero David, Gregg Robert D
Departments of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.
IEEE ROBIO. 2015 Dec;2015:2065-2071. doi: 10.1109/ROBIO.2015.7419078.
The concept of a phase variable, a mechanical measurement of the body's progression through the gait cycle, has been used to parameterize the leg joint patterns of autonomous bipedal robots, producing human-like gaits with robustness to external perturbations. It was recently proposed that the kinematic response of humans to a perturbation could also be parameterized by a phase variable. In order to properly study this phase variable hypothesis with human subjects, a custom perturbation mechanism was built to cause phase shifts in the gait cycle. The main goals of this study are to introduce the design of a novel perturbation mechanism and experimentally demonstrate its ability to effect phase changes during the gait cycle.
相位变量的概念，即对人体在步态周期中进展情况的一种力学测量，已被用于对自主双足机器人的腿部关节模式进行参数化，从而产生对外部扰动具有鲁棒性的类人步态。最近有人提出，人类对扰动的运动学响应也可以用相位变量来参数化。为了用人类受试者恰当地研究这个相位变量假说，构建了一种定制的扰动机制，以在步态周期中引起相位偏移。本研究的主要目标是介绍一种新型扰动机制的设计，并通过实验证明其在步态周期中影响相位变化的能力。
