A survey of phase variable candidates of human locomotion.
A survey of phase variable candidates of human locomotion.
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DOI：
10.1109/embc.2014.6944505
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Gregg RD
中科院分区：
文献类型：
--
作者：
Villarreal DJ;Gregg RD
研究表明，人类神经系统能够使用感觉反馈来参数化步态周期相位。在双足机器人领域，相位变量的概念已经成功地用于通过以与时间无关的方式参数化步态周期来模仿这种行为。这种方法已被应用于控制动力经股假肢，但建议的相位变量仅限于假肢的站立期。为了实现一个更强大的控制器，我们试图找到一个新的相位变量，完全参数化的假肢的步态周期。相对于髋部处的全局参考系的角度能够单调地参数化步态周期的站立和摆动周期。这项调查着眼于多个相位变量候选人，涉及髋关节角度相对于全球参考框架在多个任务，包括平地行走，跑步和楼梯谈判。特别是，我们提出了一种新的相位变量候选人，单调参数化的整个步态周期在所有的任务，这样做特别好跨平地行走。除了进一步设计强大的机器人假肢控制器外，这项调查还可以帮助神经科学家和医生从时间无关的角度研究人类在任务中的运动。
Studies show that the human nervous system is able to parameterize gait cycle phase using sensory feedback. In the field of bipedal robots, the concept of a phase variable has been successfully used to mimic this behavior by parameterizing the gait cycle in a time-independent manner. This approach has been applied to control a powered transfemoral prosthetic leg, but the proposed phase variable was limited to the stance period of the prosthesis only. In order to achieve a more robust controller, we attempt to find a new phase variable that fully parameterizes the gait cycle of a prosthetic leg. The angle with respect to a global reference frame at the hip is able to monotonically parameterize both the stance and swing periods of the gait cycle. This survey looks at multiple phase variable candidates involving the hip angle with respect to a global reference frame across multiple tasks including level-ground walking, running, and stair negotiation. In particular, we propose a novel phase variable candidate that monotonically parameterizes the whole gait cycle across all tasks, and does so particularly well across level-ground walking. In addition to furthering the design of robust robotic prosthetic leg controllers, this survey could help neuroscientists and physicians study human locomotion across tasks from a time-independent perspective.