Bogdanov V A
Biofizika. 1985 Sep-Oct;30(5):900-4.
It has been found by transforming experimental kinematic data to normal coordinates with calculating of muscle force moments during walking that the locomotor movements are regulated almost discontinuously at each degree of freedom of leg, so two piece constant parameters of control are switched few times during gait cycle. Therefore musculature acts like switched elastic constraints, and energy expenditure depends on the trajectories of movements essentially less than on the kinematic conditions displayed during fixed switchings.
通过将实验运动学数据转换为正常坐标并计算步行过程中的肌肉力量矩发现，在腿部的每个自由度上，运动运动几乎是不连续调节的，因此在步态周期中，控制的两段恒定参数会切换几次。因此，肌肉组织的作用类似于切换弹性约束，并且能量消耗在本质上取决于运动轨迹，而不是固定切换过程中显示的运动学条件。
