BALLISTIC WALKING
BALLISTIC WALKING
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DOI：
10.1016/0021-9290(80)90007-x
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发表时间：
1980-01-01
影响因子：
2.4
通讯作者：
MCMAHON, TA
中科院分区：
文献类型：
--
作者：
MOCHON, S;MCMAHON, TA
提出了步行阶段的数学模型。身体由3个链接，姿势腿1个链路，挥杆腿的大腿和小腿代表。肌肉的作用仅是为了在挥杆阶段开始时建立四肢的初始构型和速度。然后，摆动腿和身体的其余部分完全在重力的作用下完全穿过秋千的其余部分。为2种步态计算每个步长的可能挥杆时间的范围；僵硬的步行和弯曲的膝盖行走。将膝盖屈曲的模型发现的挥杆时间与已发表的实验结果进行了比较。协议非常接近。还给出了施加在肢体的地面和肢体角度与时间角的典型的直方图。计算的力和角度具有与在正常行走中实验发现的一般时间过程相同，除了垂直力通常具有不同的形状。讨论了该模型显然负责此差异的局限性。
A mathematical model of the swing phase of walking is presented. The body is represented by 3 links, 1 for the stance leg and 2 for the thigh and shank of the swing leg. The muscles act only to establish an initial configuration and velocity of the limbs at the beginning of the swing phase. The swing leg and the rest of the body then moves through the remainder of the swing phase entirely under the action of gravity. The range of possible times of swing for each step length is computed for 2 types of gaits; stiff-legged walking and walking with flexion at the knee. The range of times of swing found for the model with flexion at the knee are compared with published experimental results. The agreement is very close. Typical histograms of forces applied to the ground and angles of the limbs against time are also given. The computed forces and angles have the same general time course as those found experimentally in normal walking, with the exception of the vertical force, which often has a different shape. The limitations of the model apparently responsible for this discrepancy are discussed.