Energetics of actively powered locomotion using the simplest walking model
Energetics of actively powered locomotion using the simplest walking model
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DOI：
10.1115/1.1427703
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发表时间：
2002-02-01
影响因子：
1.7
通讯作者：
Kuo, AD
中科院分区：
文献类型：
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作者：
Kuo, AD
我们修改了一个不可简化的被动动态步行模型，步行油水平地面，并用它来研究行走的能量和速度和步长之间的关系在人类的首选。使用在脚跟着地之前立即在脚趾离地时施加的脉冲和在站立腿上施加的扭矩来探索动力行走。虽然这两种方法都可以通过对质心的机械功来提供能量，但脚趾离地冲击的成本要低四倍，因为它减少了脚跟撞击时的碰撞损失。我们还研究了在摆动腿上使用髋关节扭矩，调整其频率，但不增加步态的推进能量。这种类似弹簧的致动可以进一步减少脚跟撞击时的碰撞损失，从而改善行走能量学。一个理想化的模型产生一组简单的幂律关系的脚趾离地脉冲和有效的弹簧常数的速度和相应的步态的步长。结合非线性运动方程和更真实的惯性参数的模拟表明，这些幂律也适用于更复杂的模型。
We modified an irreducibly simple model of passive dynamic walking to walk oil level ground, and used it to study the energetics of walking and the preferred relationship between speed and step length in humans. powered walking was explored using an impulse applied at toe-off immediately before heel strike, and a torque applied on the stance leg. Although both methods can supply energy through mechanical work on the center of mass, the toe-off impulse is four times less costly because it decreases the collision loss at heel strike. We also studied the use of a hip torque on the swing leg that tunes its frequency but adds no propulsive energy to gait. This spring-like actuation can further reduce the collision loss at heel strike, improving walking energetics. An idealized model yields a set of simple power laws relating the toe-off impulses and effective spring constant to the speed and step length of the corresponding gait. Simulations incorporating nonlinear equations of motion and more realistic inertial parameters show that these power laws apply to more complex models as well.