A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition
A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition
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DOI：
10.1016/j.jtbi.2005.04.004
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发表时间：
2005-11-21
影响因子：
2
通讯作者：
Srinivasan, M
中科院分区：
文献类型：
--
作者：
Ruina, A;Bertram, JEA;Srinivasan, M
陆地上的腿式运动需要反复的支撑力来将身体的垂直速度分量从下向上重新定向。我们假设重定向是由脉冲腿力完成的，这些力引起动物点质量模型的小角度掠射碰撞。我们通过假设代谢成本与产生脉冲所涉及的积极肌肉功成正比来估计这些碰撞的能量成本。在弗劳德数（v(2)/gl）约为0.7时，该碰撞模型估计的两足行走的成本比步行的成本要小。减少运动重定向相关的运动成本的两种策略是：(1)腿部模拟纯弹性弹簧，正如在人类跑步中观察到的那样；(2)重定向阶段腿力排序；这种排列顺序的例子是马飞奔时的“ba-da-dump”模式，以及人类走路时的“push-off”和“脚跟撞击”模式。(c) 2005 Elsevier Ltd版权所有。
Terrestrial legged locomotion requires repeated support forces to redirect the body's vertical velocity component from down to up. We assume that the redirection is accomplished by impulsive leg forces that cause small-angle glancing collisions of a point-mass model of the animal. We estimate the energetic costs of these collisions by assuming a metabolic cost proportional to positive muscle work involved in generating the impulses. The cost of bipedal running estimated from this collisional model becomes less than that of walking at a Froude number (v(2)/gl) of about 0.7. Two strategies to reduce locomotion costs associated with the motion redirection are: (1) having legs simulate purely elastic springs, as is observed in human running; and (2) sequencing the leg forces during the redirection phase; examples of this sequencing are the ba-da-dump pattern of a horse gallop and having push-off followed by heel-strike in human walking. (c) 2005 Elsevier Ltd. All rights reserved.