McFadyen B J, Winter D A, Allard F
Département de Kinanthropologie, Université du Québec à Montréal, Canada.
Biol Cybern. 1994;72(2):151-60. doi: 10.1007/BF00205979.
Anticipatory adjustments of our locomotor patterns are necessary in order to negotiate our uneven daily environments. Recent work (McFadyen and Winter 1991) has shown the re-organization of lower limb mechanics for obstacle avoidance during level walking. The present work describes a model which sets the ground work for predicting how such re-organized motor patterns might be generated from stereotypic unobstructed patterns. Pattern-generating algorithms use an estimation of future contacts with obstacles to create weighting functions that modify joint angle trajectories towards new patterns capable of clearing the obstacle. Feedforward/feedback control is then used to generate the necessary joint torques. The results show that model parameters can be found to generate not only kinematic but also energetic patterns for obstacle clearance that mimic experimental results. The validity of the model with respect to human locomotor control is discussed.
为了应对我们日常不平坦的环境，对我们的运动模式进行预期调整是必要的。最近的研究（McFadyen和Winter，1991年）表明，在平地上行走时，下肢力学为避障会进行重新组织。本研究描述了一个模型，该模型为预测如何从刻板的无障碍模式中产生这种重新组织的运动模式奠定了基础。模式生成算法利用对未来与障碍物接触的估计来创建加权函数，这些函数会朝着能够避开障碍物的新模式修改关节角度轨迹。然后使用前馈/反馈控制来产生必要的关节扭矩。结果表明，可以找到模型参数，不仅能生成模仿实验结果的避障运动学模式，还能生成能量模式。讨论了该模型在人类运动控制方面的有效性。
