Synthesis of natural arm swing motion in human bipedal walking
Synthesis of natural arm swing motion in human bipedal walking
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DOI：
10.1016/j.jbiomech.2008.02.031
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发表时间：
2008-01-01
影响因子：
2.4
通讯作者：
Park, Jaeheung
中科院分区：
文献类型：
--
作者：
Park, Jaeheung
历史上一直认为，走路时手臂运动的作用与平衡有关。自然行走时手臂运动的特点是每次手臂摆动都伴随着另一条腿的运动。虽然这种手臂摆动运动是在两足行走时自然产生的，但有趣的是，手臂摆动运动并不是稳定行走所必需的。本文试图解释在人类两足行走中手臂的非相位摆动的贡献。因此，提出了一种人体运动控制方法，在行走过程中产生这种手臂摆动运动。在多体关节系统动力学的背景下，解释了手臂摆动与足部垂直轴上的反应力矩之间的关系。从这个理解，它是合理的，手臂的摆动是一个努力的结果，以减少关于脚的垂直轴的反应力矩，而躯干和腿被控制。这一思想被应用于步行运动的生成。手臂摆动运动的产生不是通过设计和跟踪手臂关节轨迹，而是通过限制足部允许的反应力矩，使全身运动最小化，同时控制下肢和躯干遵循设计的轨迹。仿真结果表明，先有足部垂直轴力矩约束，再无足部垂直轴力矩约束，验证了手臂摆动与足部反力力矩的关系。这些结果也证明了动态控制方法在产生手臂摆动运动中的应用。(c) 2008 Elsevier Ltd.版权所有。
It has historically been believed that the role of arm motion during walking is related to balancing. Arm motion during natural walking is distinguished in that each arm swing is with the motion of the opposing leg. Although this arm swing motion is generated naturally during bipedal walking, it is interesting to note that the arm swing motion is not necessary for stable walking. This paper attempts to explain the contribution of out-of-phase arm swing in human bipedal walking. Consequently, a human motion control methodology that generates this arm swing motion during walking is proposed. The relationship between arm swing and reaction moment about the vertical axis of the foot is explained in the context of the dynamics of a multi-body articulated system. From this understanding, it is reasoned that arm swing is the result of an effort to reduce the reaction moment about the vertical axis of the foot while the torso and legs are being controlled. This idea is applied to the generation of walking motion. The arm swing motion can be generated, not by designing and tracking joint trajectories of the arms, but by limiting the allowable reaction moment at the foot and minimizing whole-body motion while controlling the lower limbs and torso to follow the designed trajectory. Simulation results, first with the constraint on the foot vertical axis moment and then without, verify the relationship between arm swing and foot reaction moment. These results also demonstrate the use of the dynamic control method in generating arm swing motion. (c) 2008 Elsevier Ltd. All rights reserved.