How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data?
How well can spring-mass-like telescoping leg models fit multi-pedal sagittal-plane locomotion data?
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DOI：
10.1016/j.jtbi.2008.06.034
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发表时间：
2008-11-07
影响因子：
2
通讯作者：
Holmes, Philip
中科院分区：
文献类型：
--
作者：
Srinivasan, Manoj;Holmes, Philip
理想化的动物数学模型，具有点质量的身体和弹簧般的腿，已经被研究人员用来研究陆地腿运动的各个方面。在这里，我们将一个双足弹簧质量模型拟合到人类跑步、马小跑和蟑螂跑步的地面反作用力。我们发现，在所有这三种情况下，虽然该模型捕捉质心运动和垂直力的变化，水平力不太好再现，主要是由于净力矢量方向的变化，该模型不能容纳。拟合导致三只动物的明显腿部刚度不同。假设一个简单的固定的腿角度触地策略，我们发现，这些模型的步态是稳定的，在不同的速度步长制度，重叠与人类和马，但不与蟑螂使用。(C)2008爱思唯尔有限公司保留所有权利。
Idealized mathematical models of animals, with point-mass bodies and spring-like legs, have been used by researchers to study various aspects of terrestrial legged locomotion. Here, we fit a bipedal spring-mass model to the ground reaction forces of human running, a horse trotting, and a cockroach running. We find that, in all three cases, while the model captures center-of-mass motions and vertical force variations well, horizontal forces are less well reproduced, primarily due to variations in net force vector directions that the model cannot accommodate. The fits result in different apparent leg stiffnesses in the three animals. Assuming a simple fixed leg-angle touch-down strategy, we find that the gaits of these models are stable in different speed-step length regimes that overlap with those used by humans and horses, but not with that used by cockroaches. (C) 2008 Elsevier Ltd. All rights reserved.