Running in the real world: adjusting leg stiffness for different surfaces
Running in the real world: adjusting leg stiffness for different surfaces
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DOI：
10.1098/rspb.1998.0388
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发表时间：
1998-06-07
影响因子：
4.7
通讯作者：
Farley, CT
中科院分区：
文献类型：
--
作者：
Ferris, DP;Louie, M;Farley, CT
奔跑的动物协调其腿部的许多肌肉、肌腱和韧带的动作，使得整个腿部在接触地面时表现得像一个机械弹簧。实验观察表明，动物的腿部硬度与速度和重力水平无关，这表明它是由固有的肌肉骨骼特性决定的。然而，如果腿部刚度不变，当动物遇到自然世界中的不同表面时，跑步的生物力学（例如峰值地面反作用力和地面接触时间）就会发生变化。我们发现，人类跑步者会调整腿部刚度以适应表面刚度的变化，从而使他们能够在不同的表面上保持相似的跑步力学。这些结果为动物运动的力学和控制提供了重要的见解，并表明，如果要在不同地形上匹配动物的敏捷性和速度，在跳跃和跑步机器人的设计中纳入可调节的腿部刚度非常重要。
A running animal coordinates the actions of many muscles, tendons, and ligaments in its leg so that the overall leg behaves like a single mechanical spring during ground contact. Experimental observations have revealed that an animal's leg stiffness is independent of both speed and gravity level, suggesting that it is dictated by inherent musculoskeletal properties. However, if leg stiffness was invariant, the biomechanics of running (e.g. peak ground reaction force and ground contact time) would change when an animal encountered different surfaces in the natural world. We found that human runners adjust their leg stiffness to accommodate changes in surface stiffness, allowing them to maintain similar running mechanics on different surfaces. These results provide important insight into the mechanics and control of animal locomotion and suggest that incorporating an adjustable leg stiffness in the design of hopping and running robots is important if they are to match the agility and speed of animals on varied terrain.