New perspectives in locomotion dynamics

这项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，该关键特征在运动功能和控制的研究中被很大程度上忽视了。这项工作是基于这样一种认识，即决定腿部行走有效性的一个关键因素是，当新的站姿肢体改变生物体(个体)的集体路径时，可能会失去动量。选择在特定情况下选择的步态策略是为了管理动量的损失，从而使个人获得最佳利益。尽管大量证据证明了从这个角度分析运动的优势，但目前我们对个体适应不同身体环境的功能能力的限度或这些策略是如何确定的知之甚少。这项研究计划描述了三种研究这些特征的方法：(I)使用模拟重力水平变化的新型马具作为基于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，允许直接测试步态对动量保存机会的适应，(Iii)评估病态步态狗的自适应步态策略中的动量。这些研究结果将对解释现存和灭绝形式(包括人类祖先)的形态特化、设计与正常步态协调相结合的腿部机器人和假肢以及开发管理人类和动物异常步态的替代策略具有重要价值。

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.