New perspectives in locomotion dynamics

该建议描述了一种新的研究方案，该方案基于对运动动力学的一个关键特征的研究，该特征在运动功能和控制的研究中在很大程度上被忽视。这项工作是基于这样一种认识，即决定腿运动有效性的一个关键因素是当新的站立肢体转移生物体（个体）的质量路径时失去动力的可能性。在特定情况下选择的步态策略被选择为管理动量的损失，以使个人获得最佳利益。虽然大量的证据表明，从这个角度分析运动的优势，我们目前了解很少的限制，个人的能力，以适应不同的物理环境的功能，或如何确定这些策略。本研究计划描述了三种方法来调查这些功能;（i）使用模拟重力水平变化的新型安全带，作为对基于动量的预测的直接测试，（ii）使用新设计的计算机控制振荡器背包，其允许直接测试步态对动量守恒机会的适应，（iii）在具有病理步态的狗中评估自适应步态策略中的动量。这些研究的结果将是有价值的，在解释形态学专业化的现存和灭绝的形式（包括人类祖先），在腿机器人和假肢的设计，整合与正常步态的协调，并在替代战略的发展，以管理异常步态在人类和动物。

This proposal describes a novel program of study based on investigating a key feature of locomotion dynamics that has been largely neglected in studies of locomotion function and control. The work is based on the recognition that a key factor that determines the effectiveness of legged locomotion is the potential to lose momentum as the new stance limb diverts the path of the mass of the organism (individual). The gait strategies chosen under specific circumstances are selected to manage the loss of momentum to the best benefit of the individual. Although substantial evidence demonstrates the advantage of analyzing locomotion from this perspective, we currently understand little about the limits of the individual's capacity to functionally adapt to varied physical circumstances or how these strategies are determined. This program of study describes three approaches to investigating these features; (i) use of a novel harness that simulates changes in gravity level as a direct test of the momentum-based predictions, (ii) use of a newly designed computer controlled oscillator backpack that allows the direct testing of gait adaptation to momentum conserving opportunities, (iii) evaluation of momentum in the adaptive gait strategies in dogs with pathological gait. The results of these studies will be valuable in interpreting morphological specialization in extant and extinct forms (including human ancestors), in the design of legged robots and prosthetics that integrate with the coordination of normal gait, and in the development of alternative strategies to manage abnormal gait in humans and animals.