Gilchrist L A, Winter D A
University of Waterloo, Canada.
J Biomech. 1996 Jun;29(6):795-8. doi: 10.1016/0021-9290(95)00141-7.
A three-dimensional, two-part model of the foot, for use in a simulation of human gait, is presented. Previous simulations of gait have not included the foot segment (e.g. Siegler et al., 1982, J. Biomechanics 15, 415-425) or have fastened it to the ground (e.g. Onyshko and Winter, 1980, J. Biomechanics 13, 361-368). A foot model based on viscoelastic elements (e.g. Meglan, 1991, Ph.D. thesis, Ohio State Univ.), allows more freedom of movement and thus models the physical system more closely. The current model was developed by running simulations of the foot in isolation from just before heel contact to just after toe-off. The driving inputs to the simulation were the resultant ankle joint forces and moments taken from a gait analysis. Nine linear, vertically oriented spring/damper systems, positioned along the midline of the foot were used to model the combined viscoelastic behaviour of the foot, shoe and floor. Associated with each vertical spring/damper system were two orthogonally placed, linear, horizontal dampers used to provide the shear components of the ground reaction force. Torques at the metatarsal-phalangeal joint were supplied by a linear, torsional spring and damper. Control about the vertical axis and the long axis of the foot was achieved by the use of linear, torsional dampers. The predicted kinetic and kinematic values are very similar to those taken from the gait analysis. The model represents an improvement over previous work because the transition from swing to stance was smooth and continuous without the foot being constrained to any specific trajectory.
本文提出了一种用于人体步态模拟的足部三维两部分模型。以往的步态模拟未包含足部节段（例如Siegler等人，1982年，《生物力学杂志》15卷，415 - 425页），或者将其固定于地面（例如Onyshko和Winter，1980年，《生物力学杂志》13卷，361 - 368页）。基于粘弹性元件的足部模型（例如Meglan，1991年，俄亥俄州立大学博士论文）允许更多的运动自由度，从而更紧密地模拟物理系统。当前模型是通过对足部从足跟刚接触到足趾刚离地的孤立状态进行模拟而开发的。模拟的驱动输入是取自步态分析的踝关节合力和力矩。九个沿足部中线垂直定向的线性弹簧/阻尼器系统用于模拟足部、鞋子和地面的组合粘弹性行为。与每个垂直弹簧/阻尼器系统相关联的是两个正交放置的线性水平阻尼器，用于提供地面反作用力的剪切分量。跖趾关节处的扭矩由线性扭转弹簧和阻尼器提供。通过使用线性扭转阻尼器实现对足部垂直轴和长轴的控制。预测的动力学和运动学值与取自步态分析的值非常相似。该模型代表了对先前工作的改进，因为从摆动到站立的过渡是平滑且连续的，足部没有被限制在任何特定轨迹上。
