Ackerman Jeffrey, Potwar Karna, Seipel Justin
School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, United States.
School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, United States.
J Biomech. 2017 Feb 8;52:38-47. doi: 10.1016/j.jbiomech.2016.12.001. Epub 2016 Dec 8.
Here, we seek to determine how compliantly suspended loads could affect the dynamic stability of legged locomotion. We theoretically model the dynamic stability of a human carrying a load using a coupled spring-mass-damper model and an actuated spring-loaded inverted pendulum model, as these models have demonstrated the ability to correctly predict other aspects of locomotion with a load in prior work, such as body forces and energetic cost. We report that minimizing the load suspension natural frequency and damping ratio significantly reduces the stability of the load mass but may slightly improve the body stability of locomotion when compared to a rigidly attached load. These results imply that a highly-compliant load suspension could help stabilize body motion during human, animal, or robot load carriage, but at the cost of a more awkward (less stable) load.
在此，我们试图确定柔顺悬挂的负载如何影响腿部运动的动态稳定性。我们使用耦合弹簧-质量-阻尼器模型和驱动弹簧加载倒立摆模型，从理论上对人类携带负载时的动态稳定性进行建模，因为这些模型在先前的研究中已证明能够正确预测负载情况下运动的其他方面，如体力和能量消耗。我们报告称，与刚性连接的负载相比，将负载悬挂的固有频率和阻尼比降至最低会显著降低负载质量的稳定性，但可能会略微提高运动时身体的稳定性。这些结果表明，高度柔顺的负载悬挂有助于在人类、动物或机器人负载运输过程中稳定身体运动，但代价是负载更加不稳定（更笨拙）。
