Montgomery Jana R, Grabowski Alena M
Integrative Physiology, University of Colorado Boulder, Boulder, CO, USA.
VA Eastern Colorado Health Care System, Denver, CO, USA.
R Soc Open Sci. 2018 Aug 29;5(8):180550. doi: 10.1098/rsos.180550. eCollection 2018 Aug.
The muscles surrounding the ankle, knee and hip joints provide 42, 16 and 42%, respectively, of the total leg positive power required to walk on level ground at various speeds. However, each joint's contribution to leg work when walking up/downhill at a range of speeds is not known. Determining each biological joint's contribution to leg work over a range of speeds and slopes can inform the design of biomimetic assistive devices (i.e. prostheses). Twenty healthy adults walked 1.00, 1.25 and 1.50 m s on 0°, ±3°, ±6° and ±9° while we collected kinematic and kinetic data. We calculated sagittal plane joint work and individual leg work over the entire stance phase. The ratio of ankle joint to total individual leg positive work (summed ankle, knee and hip joint work) did not change (0.42) with speed or slope, but the ratio of ankle joint to individual leg negative work was 0.38 at -9°, 0.42 at 0° and 0.27 at +9° across all speeds. The ratio of ankle joint to total individual leg negative work was 0.41 at 1.00 m s and 0.32 at 1.50 m s across all slopes. The ratio of knee joint to total individual positive leg work (0.22) did not change with speed or slope. The ratio of knee joint to total individual leg negative work was 0.39 at 1.00 m s and 0.45 at 1.50 m s across all slopes. The ratio of hip joint to total individual leg positive work did not change with speed but was 0.34 at -9°, 0.33 at 0° and 0.37 at +9° across all speeds. The ratio of hip joint to total individual leg negative work was 0.21 at 1.00 m s, and 0.24 at 1.50 m s across all slopes and 0.17 at -9°, 0.19 at 0° and 0.29 at +9° across all speeds. The ankle significantly contributes to walking on slopes and this contribution changes during sloped compared with level-ground walking, thus assistive devices that provide biomimetic ankle function must adapt to accommodate walking at different speeds and slopes; whereas assistive biomimetic devices for the knee only need to adapt at different speeds.
在不同速度下在平地上行走时，围绕踝关节、膝关节和髋关节的肌肉分别提供了腿部总正向功率的42%、16%和42%。然而，在一系列速度下上坡/下坡行走时，每个关节对腿部做功的贡献尚不清楚。确定每个生物关节在一系列速度和坡度下对腿部做功的贡献，可为仿生辅助装置（即假肢）的设计提供参考。20名健康成年人在0°、±3°、±6°和±9°的坡度上以1.00、1.25和1.50米/秒的速度行走，同时我们收集了运动学和动力学数据。我们计算了整个站立阶段矢状面的关节功和单腿功。踝关节功与单腿总正向功（踝关节、膝关节和髋关节功之和）的比值不会随速度或坡度而变化（0.42），但在所有速度下，踝关节功与单腿负向功的比值在-9°时为0.38，在0°时为0.42，在+9°时为0.27。在所有坡度下，踝关节功与单腿总负向功的比值在1.00米/秒时为0.41，在1.50米/秒时为0.32。膝关节功与单腿总正向功的比值（0.22）不会随速度或坡度而变化。在所有坡度下，膝关节功与单腿总负向功的比值在1.00米/秒时为0.39，在1.50米/秒时为0.45。髋关节功与单腿总正向功的比值不会随速度而变化，但在所有速度下，在-9°时为0.34，在0°时为0.33，在+9°时为0.37。在所有坡度下，髋关节功与单腿总负向功的比值在1.00米/秒时为0.21，在1.50米/秒时为0.24；在所有速度下，在-9°时为0.17，在0°时为0.19，在+9°时为0.29。踝关节对在斜坡上行走有显著贡献，与在平地上行走相比，这种贡献在斜坡行走时会发生变化，因此提供仿生踝关节功能的辅助装置必须适应不同速度和坡度下的行走；而用于膝关节的辅助仿生装置仅需在不同速度下进行适应。
