不同上楼速度下的垂直地面反力
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摘要
上楼垂直地面反力决定着人体质心在垂直方向上的运动,与垂直方向上的平均行走速度、初速有密切的联系。该文建立了上楼行走垂直方向模型,提出了连续周期行走约束,给出了垂直地面反力表达式,研究了其最大值的影响因素,建立了垂直方向初速与垂直地面反力参数、水平方向平均速度之间的数学关系,并对不同上楼速度下的垂直地面反力最大值变化情况进行了预测。用光学运动捕捉系统和六维力台进行了不同速度下的上楼行走测试,测试结果表明:预测结论较准确,上楼低速行走时更加接近水平行走,为使垂直地面反力最大值变化较小,随着行走速度的增加,垂直方向初速增加。
The vertical ground reaction force determines the movement of the center of mass of the human body in the vertical direction during stair climbing.The vertical reaction force is closely related to the average vertical speed and the initial vertical speed.This paper presents a human stair climbing model that is used to derive the constraint for continuous climbing from the key factors influencing the maximum vertical force. The model gives mathematical expressions for the initial vertical speed,vertical force and the average horizontal speed.The model gives the change in the maximum vertical ground reaction force for various stair climbing speeds.Stair climbing tests were performed at various speeds using a motion analysis system and force platform.The tests verify the model accuracy with the results showing that the motion characteristics at low stair climbing speeds are closer to those of level walking than at high speeds and the initial vertical speed increases with increasing average horizontal speed to reduce the maximum vertical ground reaction force.
The vertical ground reaction force determines the movement of the center of mass of the human body in the vertical direction during stair climbing.The vertical reaction force is closely related to the average vertical speed and the initial vertical speed.This paper presents a human stair climbing model that is used to derive the constraint for continuous climbing from the key factors influencing the maximum vertical force. The model gives mathematical expressions for the initial vertical speed,vertical force and the average horizontal speed.The model gives the change in the maximum vertical ground reaction force for various stair climbing speeds.Stair climbing tests were performed at various speeds using a motion analysis system and force platform.The tests verify the model accuracy with the results showing that the motion characteristics at low stair climbing speeds are closer to those of level walking than at high speeds and the initial vertical speed increases with increasing average horizontal speed to reduce the maximum vertical ground reaction force.
引文
[1] RIENER R,RABUFFETTI M,FRIGO C.Stair ascent and descent at different inclinations[J].Gait&Posture,2002,15(1):32-44.
[2] NADEAU S,MCFADYEN B J,MALOUIN F.Frontal and sagittal plane analyses of the stair climbing task in healthy adults aged over 40years:What are the challenges compared to level walking?[J]. Clinical Biomechanics, 2003,18(10):950-959.
[3] NOVAK A C,BROUWER B.Sagittal and frontal lower limb joint moments during stair ascent and descent in young and older adults[J].Gait&Posture,2011,33(1):54-60.
[4]张瑞红,金德闻,张济川,等.不同路况下正常步态特征研究[J].清华大学学报(自然科学版),2000,40(8):77-80.ZHANG R H,JIN D W,ZHANG J C,et al.Normal gait patterns on different terrain[J].Journal of Tsinghua University(Science and Technology),2000,40(8):77-80.(in Chinese)
[5] PROTOPAPADAKI A,DRECHSLER W I,CRAMP M C,et al.Hip,knee,ankle kinematics and kinetics during stair ascent and descent in healthy young individuals[J].Clinical Biomechanics,2007,22(2):203-210.
[6]唐刚,魏高峰,周海,等.测量并分析上楼梯过程中下肢关节角变化[J].医用生物力学,2011,26(5):460-464.TANG G,WEI G F,ZHOU H,et al.Measurement and analysis of the joint angle in lower limb during stair ascent[J].Journal of Medical Biomechanics, 2011, 26(5):460-464.(in Chinese)
[7] STACOFF A,DIEZI C,LUDER G,et al.Ground reaction forces on stairs:Effects of stair inclination and age[J].Gait&Posture,2005,21(1):24-38.
[8] ALEXANDER R M,JAYES A S.Fourier analysis of forces exerted in walking and running[J].Journal of Biomechanics,1980,13(4):383-390.
[9] MINETTI A E,ALEXANDER R M.A theory of metabolic costs for bipedal gaits[J].Journal of Theoretical Biology,1997,186(4):467-476.
[10]NEUMANN D A. Kinesieology of the musculoskeletal system foundations for rehabilitation[M].2nd ed.St.Louis:Mosby Elsevier,2010.
[11]KUO A D, DONELAN J M, RUINA A. Energetic consequences of walking like an inverted pendulum:Step-to-step transitions[J].Exercise and Sport Sciences Reviews,2005,33(2):88-97.
[12]ADAMCZYK P G,KUO A D.Redirection of center-of-mass velocity during the step-to-step transition of human walking[J]. Journalof ExperimentalBiology, 2009, 212:2668-2678.
[13]DONELAN J M,KRAM R,KUO A D.Mechanical work for step-to-step transitions is a major determinant of the metabolic costofhumanwalking[J]. Journalof Experimental Biology,2002,205:3717-3727.
[14]DONELAN J M,KRAM R,KUO A D.Simultaneous positive and negative external mechanical work in human walking[J].Journal of Biomechanics,2002,35(1):117-124.
[15]DE LEVA P. Adjustments to Zatsiorsky-Seluyanovs segment inertia parameters[J].Journal of Biomechanics,1996,29(9):1223-1230.
[2] NADEAU S,MCFADYEN B J,MALOUIN F.Frontal and sagittal plane analyses of the stair climbing task in healthy adults aged over 40years:What are the challenges compared to level walking?[J]. Clinical Biomechanics, 2003,18(10):950-959.
[3] NOVAK A C,BROUWER B.Sagittal and frontal lower limb joint moments during stair ascent and descent in young and older adults[J].Gait&Posture,2011,33(1):54-60.
[4]张瑞红,金德闻,张济川,等.不同路况下正常步态特征研究[J].清华大学学报(自然科学版),2000,40(8):77-80.ZHANG R H,JIN D W,ZHANG J C,et al.Normal gait patterns on different terrain[J].Journal of Tsinghua University(Science and Technology),2000,40(8):77-80.(in Chinese)
[5] PROTOPAPADAKI A,DRECHSLER W I,CRAMP M C,et al.Hip,knee,ankle kinematics and kinetics during stair ascent and descent in healthy young individuals[J].Clinical Biomechanics,2007,22(2):203-210.
[6]唐刚,魏高峰,周海,等.测量并分析上楼梯过程中下肢关节角变化[J].医用生物力学,2011,26(5):460-464.TANG G,WEI G F,ZHOU H,et al.Measurement and analysis of the joint angle in lower limb during stair ascent[J].Journal of Medical Biomechanics, 2011, 26(5):460-464.(in Chinese)
[7] STACOFF A,DIEZI C,LUDER G,et al.Ground reaction forces on stairs:Effects of stair inclination and age[J].Gait&Posture,2005,21(1):24-38.
[8] ALEXANDER R M,JAYES A S.Fourier analysis of forces exerted in walking and running[J].Journal of Biomechanics,1980,13(4):383-390.
[9] MINETTI A E,ALEXANDER R M.A theory of metabolic costs for bipedal gaits[J].Journal of Theoretical Biology,1997,186(4):467-476.
[10]NEUMANN D A. Kinesieology of the musculoskeletal system foundations for rehabilitation[M].2nd ed.St.Louis:Mosby Elsevier,2010.
[11]KUO A D, DONELAN J M, RUINA A. Energetic consequences of walking like an inverted pendulum:Step-to-step transitions[J].Exercise and Sport Sciences Reviews,2005,33(2):88-97.
[12]ADAMCZYK P G,KUO A D.Redirection of center-of-mass velocity during the step-to-step transition of human walking[J]. Journalof ExperimentalBiology, 2009, 212:2668-2678.
[13]DONELAN J M,KRAM R,KUO A D.Mechanical work for step-to-step transitions is a major determinant of the metabolic costofhumanwalking[J]. Journalof Experimental Biology,2002,205:3717-3727.
[14]DONELAN J M,KRAM R,KUO A D.Simultaneous positive and negative external mechanical work in human walking[J].Journal of Biomechanics,2002,35(1):117-124.
[15]DE LEVA P. Adjustments to Zatsiorsky-Seluyanovs segment inertia parameters[J].Journal of Biomechanics,1996,29(9):1223-1230.