Global dynamics of bipedal macaques during grounded and aerial running
Global dynamics of bipedal macaques during grounded and aerial running
复制标题
DOI：
10.1242/jeb.178897
复制
发表时间：
2018-12-01
影响因子：
2.8
通讯作者：
Ogihara, Naomichi
中科院分区：
文献类型：
--
作者：
Blickhan, Reinhard;Andrada, Emanuel;Ogihara, Naomichi
接受过两足训练的猕猴使用落地跑、跳跃和空中跑，但避免步行。在很宽的速度范围内对地面跑步的偏好与在人类中观察到的运动习惯有很大的不同，这可能是腿部顺应性差异的结果。在本研究中，运动学和动力学观察的基础上，三个人穿越实验轨道，我们调查了全球腿的属性，如腿刚度和粘性阻尼在地面和空中运行。我们发现，在猕猴中，类似于人类和鸟类的双足运动，地面反作用力的矢量是从压力中心（COP）指向质心（COM）上方的虚拟枢轴点。由于解剖学髋关节相对于COM的位置，虚拟腿（COM-COP）和有效腿（hip-COP）的粘弹性腿特性不同。有效支腿在轴向方向上表现出阻尼，在切向分量上表现出正功。阻尼并不妨碍振荡模式的探索。地面跑步比步行更好，因为腿的顺应性。从地面运行到空中运行的过渡并不伴随着不连续的变化。在动态特性方面，猕猴似乎处于两足专家（人类和鸟类）之间。我们推测，髋关节放置和轻微的前倾姿势引起的有效腿的损失可能不会通过促进稳定而得到回报，使得猕猴的双足运动昂贵且不安全。
Macaques trained to perform bipedally use grounded running, skipping and aerial running, but avoid walking. The preference for grounded running across a wide range of speeds is substantially different from the locomotion habits observed in humans, which may be the result of differences in leg compliance. In the present study, based on kinematic and dynamic observations of three individuals crossing an experimental track, we investigated global leg properties such as leg stiffness and viscous damping during grounded and aerial running. We found that, in macaques, similar to human and bird bipedal locomotion, the vector of the ground reaction force is directed from the center of pressure (COP) to a virtual pivot point above the center of mass (COM). The visco-elastic leg properties differ for the virtual leg (COM-COP) and the effective leg (hip-COP) because of the position of the anatomical hip with respect to the COM. The effective leg shows damping in the axial direction and positive work in the tangential component. Damping does not prevent the exploration of oscillatory modes. Grounded running is preferred to walking because of leg compliance. The transition from grounded to aerial running is not accompanied by a discontinuous change. With respect to dynamic properties, macaques seem to be well placed between bipedal specialists (humans and birds). We speculate that the losses induced in the effective leg by hip placement and slightly pronograde posture may not pay off by facilitating stabilization, making bipedal locomotion expensive and insecure for macaques.