一种关于步态起始动力学的建模方法。
A modelling approach to the dynamics of gait initiation.
作者信息
Anand Manish, Seipel Justin, Rietdyk Shirley
机构信息
School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette IN, USA
School of Mechanical Engineering, Purdue University, 585 Purdue Mall, West Lafayette IN, USA.
出版信息
J R Soc Interface. 2017 Mar;14(128). doi: 10.1098/rsif.2017.0043.
Gait initiation is an integral and complex part of human locomotion. In this paper, we present a novel compliant-leg model-based approach to understanding the key phases of initiation, the nature of the effective forces involved in initiation, and the importance of the anticipatory postural adjustments (APAs). The results demonstrate that in the presence of APAs, we observe a change in the characteristic of forcing required for initiation, and the energetic cost of gait initiation is also reduced by approximately 58%. APAs also result in biologically relevant leg landing angles and trajectories of motion. Furthermore, we find that a sublinear functional relationship with the velocity error from steady state predicts the required force, consistent with an open loop control law basis for gait initiation.
步态起始是人类运动中不可或缺且复杂的一部分。在本文中，我们提出了一种基于柔顺腿部模型的新颖方法，用于理解起始的关键阶段、起始过程中涉及的有效力的性质以及预期姿势调整（APA）的重要性。结果表明，在存在APA的情况下，我们观察到起始所需力的特性发生了变化，并且步态起始的能量消耗也降低了约58%。APA还会导致生物学上相关的腿部着地角度和运动轨迹。此外，我们发现与稳态速度误差的亚线性函数关系可预测所需力，这与步态起始的开环控制律基础一致。
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