New perspectives in locomotion dynamics

这一建议描述了一个新的研究方案，基于研究运动动力学的一个关键特征，这在运动功能和控制的研究中很大程度上被忽视了。这项工作是基于这样一种认识，即决定腿部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，失去动量的可能性。在特定情况下选择的步态策略是为了管理动量的损失，以达到个人的最佳利益。尽管有大量证据表明从这个角度分析运动的优势，但我们目前对个体适应各种物理环境的能力的限制知之甚少，也不知道这些策略是如何确定的。本研究计划描述了调查这些特征的三种方法；(i)使用模拟重力水平变化的新型挽具作为动量预测的直接测试，（ii）使用新设计的计算机控制振荡器背包，允许直接测试步态适应动量保存机会，（iii）评估病态步态犬的适应性步态策略中的动量。这些研究的结果将在解释现存和灭绝形式（包括人类祖先）的形态专门化，在有腿机器人和假肢的设计中整合正常步态的协调，以及在开发管理人类和动物异常步态的替代策略方面具有价值。

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.