A simple mass-spring model with roller feet can induce the ground reactions observed in human walking.
A simple mass-spring model with roller feet can induce the ground reactions observed in human walking.
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DOI：
10.1115/1.3005147
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发表时间：
2009-01
期刊：
影响因子：
--
通讯作者：
Thelen DG
中科院分区：
文献类型：
--
作者：
Whittington BR;Thelen DG
以前已经显示，可以调节由弹簧四肢支撑的点质量组成的两体模型，以模拟周期性的人行走。
在这项研究中，我们将辊脚融入了弹簧质量模型中，并评估了滚子半径，冲击角和肢体刚度对时空步态特性，地面反应和压力偏移中心的影响。我们还评估了改进的模型的潜力，以预测正常人行走期间观察到的地面反作用力和压力中心偏移的速度变化。
我们能够找到跨模型参数表现出步态样运动的极限循环。滚筒脚的掺入（r = 0.3 m）降低了峰值地面反应力的大小，并允许向前压力进展中心，从而使模型与人的行走更加一致。在固定的步行速度下，增加肢体冲击角度会降低节奏和延长的立场持续时间。肢体刚度或冲击角的增加趋于导致更多振荡性的垂直地面反应。需要对肢体冲击角度和肢体刚度的同时调节，以诱导与正常人行走过程中测量的地面反应的速度相关变化，并且在较慢的速度下实现了更好的定量一致性。
我们得出的结论是，一个具有滚筒脚的简单质量弹簧模型可以很好地描述地面反作用力，因此在正常人行走期间观察到的质量运动中心。
It has previously been shown that a bipedal model consisting of a point mass supported by spring limbs can be tuned to simulate periodic human walking. In this study, we incorporated roller feet into the spring-mass model and evaluated the effect of roller radius, impact angle, and limb stiffness on spatio-temporal gait characteristics, ground reactions, and center of pressure excursions. We also evaluated the potential of the improved model to predict speed-dependent changes in ground reaction forces and center-of-pressure excursions observed during normal human walking. We were able to find limit cycles that exhibited gait-like motion across a wide spectrum of model parameters. Incorporation of the roller foot (R = 0.3 m) reduced the magnitude of peak ground reactions forces and allowed for forward center of pressure progression, making the model more consistent with human walking. At a fixed walking speed, increasing the limb impact angle reduced the cadence and prolonged stance duration. Increases in either limb stiffness or impact angle tended to result in more oscillatory vertical ground reactions. Simultaneous modulation of the limb impact angle and limb stiffness was needed to induce speed-related changes in ground reactions that were consistent with those measured during normal human walking, with better quantitative agreement achieved at slower speeds. We conclude that a simple mass-spring model with roller feet can well describe ground reaction forces, and hence center of mass motion, observed during normal human walking.
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影响因子：
5.5
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