Passive, Nonlinear-Dynamic Study of Walking: Simulation, Analysis, and Experiment

步行的被动非线性动态研究：模拟、分析和实验

• 批准号: 9806612
• 负责人: Andy Ruina
• 金额: --
• 依托单位: Cornell University
• 依托单位国家: 美国
• 项目类别: Continuing grant
• 财政年份: 1998
• 资助国家: 美国
• 起止时间: 1998-08-15 至 2003-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9806612&HistoricalAwards=false
• 关键词: Passive; Nonlinear; Dynamic; Study; Walking

9806612RuinaThe goal of this research is to develop a model for bipedal motion which uses little or no active motion. Rather, locomotion is modeled via a strictly passive motion similar to those walking toys that walk down an incline. The model would be advantageous because it reduces the number of free parameters to that of the ground slope. Simulation results were presented which demonstrate that the model undergoes stable period doubling limit cycles leading ultimately to chaos, which resembles normal gait, limping, and seemingly chaotic stumbling, respectively. A close agreement was found to exist between strobe line drawings obtained from a passive kneed model and human subject data. The research seeks to expand on three-dimensional models, generate more realistic two-dimensional models, incorporate upper body, and other body parts, look at powered walking, running and pathological gait.***

9806612Ruina本研究的目标是开发一种两足动物运动的模型，该模型使用很少的主动运动或没有主动运动。相反，运动是通过严格的被动运动来模拟的，类似于那些走下斜坡的行走玩具。该模型是有利的，因为它将自由参数的数量减少到地面坡度的数量。仿真结果表明，该模型经历了稳定的周期倍增极限环，最终导致混沌，分别类似于正常步态、跛行和看似混沌的绊倒。从被动膝关节模型获得的频闪线条图与人体受试者数据之间存在着密切的一致性。这项研究旨在扩展三维模型，生成更逼真的二维模型，结合上半身和其他身体部位，研究动力行走、跑步和病态步态。