一个任务级人类步行调节模型的结果是半稳定的步行
Navendu S Patil1,2, Jonathan B Dingwell1, Joseph P Cusumano2
1Department of Kinesiology, Pennsylvania State University, University Park, PA 16802, USA.
bioRxiv : the preprint server for biology
|July 9, 2024
概括
这项研究探讨了运动控制如何影响横向踏入动态步行者. 它揭示了以目标为导向的调节创造了稳定的行走模式,即使有干扰.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 神经科学是一个神经科学.
背景情况:
- 了解运动控制如何影响步行稳定对于开发先进的假肢和理解人类运动至关重要.
- 以前的模型往往简化了机械约束和侧向步行中的运动调节之间的复杂相互作用.
研究的目的:
- 为了研究运动调节对前面平面步行动态的影响,在一个简化的侧向步行者.
- 将行走的机械原理与足部位置的人类运动控制的验证模型相结合.
主要方法:
- 采用了一种侧向动态步行者模型,具有摆动腿动态和可调节的参数.
- 强加了任务级多目标规范,优先考虑步骤宽度和横向车身位置.
- 该模型结合了侧面机械模板和侧面电机调节模板.
主要成果:
- 综合模型成功地复制了实验观察到的渐变波动统计数据.
- 任务级调节在系统的状态空间中产生了一个目标等价的多元组.
- 一个连续的1期步态被确定为半稳定的集合,证明了对扰动的弹性.
结论:
- 运动调节在实现稳定的正面平面步行方面发挥着关键作用.
- 渐进动态的线性实证模型可以从底层的非线性力学中出现.
- 半稳定步行套的概念为运动适应性提供了新的见解.
相关概念视频
00:49Rigid Body Equilibrium Problems - I
A rigid body is said to be in static equilibrium when the net force and the net torque acting on the system is equal to zero. To solve for rigid body equilibrium problems, do the following steps.
01:21Rigid Body Equilibrium Problems - II
A rigid body is in static equilibrium when the net force and the net torque acting on the system are equal to zero.
Consider two children sitting on a seesaw, which has negligible mass. The first child has a mass (m1) of 26 kg and sits at point A, which is 1.6 meters (r1) from the pivot point B; the second child has a mass (m2) of 32 kg and sits at point C. How far from the pivot point B should the second child sit (r2) to balance the seesaw?
Consider two children sitting on a seesaw, which has negligible mass. The first child has a mass (m1) of 26 kg and sits at point A, which is 1.6 meters (r1) from the pivot point B; the second child has a mass (m2) of 32 kg and sits at point C. How far from the pivot point B should the second child sit (r2) to balance the seesaw?