一个双脚行走模型,考虑车俯仰角,以估计悬挂负载对人类生物力学的影响
IEEE transactions on bio-medical engineering
|October 29, 2024
概括
一个新的双脚行走模型,悬浮载荷提高了行走经济,降低了能源成本. 这种经过验证的模型准确地估计了生物力学反应,支持悬浮负载系统的好处.
科学领域:
- 生物力学 生物力学
- 人类运动分析 人类运动分析
- 机器人和控制系统 机器人和控制系统
背景情况:
- 悬挂载荷增强了行走经济.
- 双脚行走模型需要动态的干斜率角度来准确估计生物力学反应.
研究的目的:
- 开发一个双脚行走模型,结合后备箱-负载-部动力学.
- 估计人类在悬浮负荷下的生物力学反应.
- 使用实验数据验证模型.
主要方法:
- 修改了弹加载倒置摆形 (SLIP) 模型.
- 优化步行模式,以最小的能源成本.
- 通过使用动力背包的9名受试者验证了该模型 (负载悬浮与负载锁定试验).
主要成果:
- 模拟和实验部轨迹,GRF和腿部机械力量之间的高相关性 (0.81-0.97).
- 在关键参数中,RMS误差低于10%.
- 悬浮负荷降低了GRF和能源成本,并大大降低了干部扭矩 (34-37%).
结论:
- 该模型准确地估计了生物力学反应和能量成本.
- 该模型证实了悬浮载荷在减少物理应变方面的优势.
- 支持使用先进的模型来设计携带设备.
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