Low-dimensional modeling and analysis of human gait with application to the gait of transtibial prosthesis users
Low-dimensional modeling and analysis of human gait with application to the gait of transtibial prosthesis users
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人类步态的低维建模和分析及其在小腿假肢使用者步态中的应用
DOI：
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Srinivasan
中科院分区：
文献类型：
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作者：
S. Srinivasan
本文采用一种受机器人学启发的方法，开发了一种正常人类行走的低维正向动力学模型。该分析模型捕捉了L内侧矢状肌在一个完整的步态周期中行走的动力学过程。将正常行走模型扩展为非对称步态模型。应用非对称模型研究了经胫骨假体使用者的步态动力学。模拟人类行走是复杂的，因为行走涉及(I)身体的多个自由度(DOF)，(Ii)变化的约束，以及(I Ii)与可能是冲动的环境的间歇性接触。复杂的正向动态模型试图捕捉细节，如具有多个自由度的关节、肌肉结构等，在分析上是困难的；由于我求解了大量的变量和冗余，因此不可能用数学上可处理的术语来描述模型的行为。从系统的角度观察人类行走，可以看出，人的身体以一种简约的方式协调其多个自由度，以完成将身体的重心从一点移动到另一点的任务。本文的方法是利用这一简约性来推导出一个分析上容易处理的模型，该模型具有描述在矢状面上行走的任务所需的最小自由度。低维混合模型是高维拟人混合模型的精确子动力学模型。混合性质是单支撑(SS)和双支撑(DS)的连续子模型的结果，以及模型II从SS到DS和DS到SS的离散映射的结果。该模型使用现有的步态数据来确定日期。为了扩展该建模方法的临床实用性，将正常步行的模型扩展为非对称步态的建模。非对称模型可以适应左右腿参数和关节运动的不对称性。将该非对称模型应用于经胫骨假肢使用者的步态动力学分析。成本函数被用来评估不同的假体对齐、假体质量分布和假体足僵硬的效果。结果与临床观察和文献报道的相关步态研究结果吻合较好。
This dissertation uses a robotics-inspired approach to dev elop a low-dimensional forward dynamic model of normal human walking. The analytical m odel captures the dynamics of walking over a complete gait cycle in the sagittal p l ne. The model for normal walking is extended to model asymmetric gait. The asymmetri c model is applied to study the gait dynamics of a transtibial prosthesis user. Modeling human walking is complex because walking involves (i) the body’s many degrees of freedom (DOF), (ii) constraints that change, and (i ii) intermittent contact with the environment that may be impulsive. Complex forward dynamic m odels that attempt to capture details such as joints with multiple DOF, musculature, etc., are analytically intractable; it is impossible to describe the model’s behavior in mathema tically manageable terms because of the enormous number of variables and redundancies i volved. Observation of human walking from a systems point of view reveals that the hu man body coordinates its many DOF in a parsimonious manner to accomplish the task of mo ving the body’s center of mass from one point to another. This dissertation’s appro ach exploits this parsimony to derive an analytically tractable model that has the minimum DOF necessary to describe the task of walking in the sagittal plane. The low-dimensional hybrid model is derived as an exact subdynamic of a higherdimensional anthropomorphic hybrid model. The hybrid natu re is the result of continuous sub-models of single support (SS) and double support (DS), a nd discrete maps that model ii the transitions from SS to DS and DS to SS. The modeling is vali dated using existing gait data. To extend the clinical usefulness of the modeling approach, the model for normal walking is extended to model asymmetric gait. The asymmetric mod el can accommodate asymmetries in the parameters and joint motions of the left and ri ght legs. The asymmetric model is applied to analyze the gait dynamics of a transtibial pros thesis user. Cost functions are used to evaluate the effect of varying prosthetic alignment , prosthesis mass distribution, and prosthetic foot stiffness. The results agree well with clin i al observations and the results of related gait studies reported in the literature.
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DOI：
10.1115/1.1427703
发表时间：
2002-02-01
影响因子：
1.7
作者：
Kuo, AD
通讯作者：
Kuo, AD
影响因子：
2.4
作者：
Goldberg, SR;Anderson, FC;Delp, SL
通讯作者：
Delp, SL
影响因子：
2.4
作者：
Riley, PO;Kerrigan, DC
通讯作者：
Kerrigan, DC
DOI：
10.1115/1.1372322
发表时间：
2001-06-01
影响因子：
1.7
作者：
Kuo, AD
通讯作者：
Kuo, AD
影响因子：
2.4
作者：
Neptune, RR;Kautz, SA;Zajac, FE
通讯作者：
Zajac, FE