The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective
The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective
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DOI：
10.1016/j.humov.2007.04.003
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发表时间：
2007-08-01
影响因子：
2.1
通讯作者：
Kuo, Arthur D.
中科院分区：
文献类型：
--
作者：
Kuo, Arthur D.
我们研究两个流行的，但令人惊讶的矛盾，人类行走的理论。步态的六个决定因素是步态的运动学特征，提出通过减少身体质心（COM）的垂直位移来最小化运动的能量消耗。倒立摆类比提出，站立腿的行为像钟摆一样是有益的，为COM规定了一个更圆形的区域，而不是水平路径。最近的文献提出了反对六个决定因素理论的证据，一个简单的数学分析表明，平坦的COM轨迹实际上增加了肌肉工作和力量需求。一个类似的分析表明，倒立摆的表现更好，但矛盾的是预测没有功或力的要求。这个悖论可以通过动态步行方法来解决，动态步行方法指的是几乎完全由肢体的动力学单独产生的周期性步态，演示包括被动动态步行机器，下一个缓坡，和主动动态步行机器人，在平地上行走。动态行走利用了倒立摆机制，但需要机械功来从一个摆动的站立腿过渡到下一个。我们展示了如何一步一步的过渡是一个不可避免的充满活力的倒立摆步态的后果，并产生了预测，是实验测试的人类和机器。动态步行方法提供了一个新的视角，专注于机械功，而不是步态的运动学或力。它有助于以建设性的而不是解释性的方式解释人类步态特征。2007 Elsevier B.V.保留所有权利。
We examine two prevailing, yet surprisingly contradictory, theories of human walking. The six determinants of gait are kinematic features of gait proposed to minimize the energetic cost of locomotion by reducing the vertical displacement of the body center of mass (COM). The inverted pendulum analogy proposes that it is beneficial for the stance leg to behave like a pendulum, prescribing a more circular are, rather than a horizontal path, for the COM. Recent literature presents evidence against the six determinants theory, and a simple mathematical analysis shows that a flattened COM trajectory in fact increases muscle work and force requirements. A similar analysis shows that the inverted pendulum fares better, but paradoxically predicts no work or force requirements. The paradox may be resolved through the dynamic walking approach, which refers to periodic gaits produced almost entirely by the dynamics of the limbs alone, Demonstrations include passive dynamic walking machines that descend a gentle slope, and active dynamic walking robots that walk on level ground. Dynamic walking takes advantage of the inverted pendulum mechanism, but requires mechanical work to transition from one pendular stance leg to the next. We show how the step-to-step transition is an unavoidable energetic consequence of the inverted pendulum gait, and gives rise to predictions that are experimentally testable on humans and machines. The dynamic walking approach provides a new perspective, focusing on mechanical work rather than the kinematics or forces of gait. It is helpful for explaining human gait features in a constructive rather than interpretive manner. 2007 Elsevier B.V. All rights reserved.