人体步态模型实验研究
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摘要
步行是人类日常生活中重复最多而又复杂的一种整体性运动,行走的方式和风格称之为步态。一个人的步态是自身结构与功能,运动调节系统,个人行为及心理活动在行走时的外在表现。广义地讲,步态反映了一个人身体素质和精神素质的水平。研究人在行走过程中的步态特征不仅对于了解人体运动规律,发现肢体间的协调配合决策具有重要的意义,而且在临床诊断、康复医疗、人机工程学、体育科学以及仿生机构与类人机器人等领域都具有重要的意义。本文受到国家自然科学基金“下肢康复训练机器人关键技术研究”项目的资助,针对人体步态模型的研究方法、研究过程和研究结论进行了详细论述和分析。
在综述分析了国内外有关人体步态运动测量方法的基础上,提出了一种检测骨盆四自由度运动的新方法,对其进行了理论分析,推导了求解人在跑步机上行走时骨盆沿空间三个坐标轴的平移运动和绕垂直轴的旋转运动的数学模型。在此基础上,提出了一套用于同时测量骨盆运动,下肢髋、膝、踝关节旋转运动以及步态时相的人体步态运动测量方案,并进行了相关理论分析。
研制了步态测量实验平台,以健康男性青年为对象进行了步态实验研究,对步态时相,骨盆四自由度运动和髋、膝、踝关节旋转运动进行了图形描述,并对各个步态运动特征进行了归纳分析。
在实验研究与步态图形描述的基础上,对骨盆沿相对坐标系x轴和y轴的运动采用了正弦函数进行模型描述;对骨盆沿相对坐标系z轴的运动采用了扩展指数函数进行模型描述;根据髋关节的旋转角度曲线特征,将S型Sigmoid函数进行了扩展,并将扩展后的函数作为髋关节转角曲线的回归模型对其描述;对膝关节旋转运动的模型描述采用了分段函数形式,节点两侧的曲线分别采用正弦函数和扩展Gaussian函数进行模型描述;运动曲线较复杂的踝关节旋转运动采用复合分段函数形式建模,节点间的曲线均采用扩展Sigmoid函数进行模型描述。对拟合函数进行了残差分析,分析结果验证了采用以上模型对人体步态运动进行定量分析的可行性。
对步态模型中的幅值和相位变量与身高和行走速度的关系进行了相关分析,将相关性显著的特征变量进行了回归分析,对步态模型进行了扩展。并对模型进行实验检验,检验结果表明了所建立的步态运动模型及扩展模型的可行性。
Walk is the most repetitive and complex integral movement in human daily life, its manner and style are called as gait. Generally speaking, one man's gait is a surface representation of self structure and function, motion regulation system, individual behavior and mental activity during walking. The study of the human gait feature during human walking has important science significance not only in understanding human motion law and discovering coordination decision among limbs, but also in the fields of clinical treatment, rehabilitation treatment, man-machine engineering, sports science, bionic mechanism hominine robot and so on. Therefore, the world attaches importance to these fields. The paper is sponsored by National Natural Science Foundation "Research on several critical techniques about lower limbs rehabilitative robot." The research method, process and conclusion about human gait model were demonstrated and analyzed in detail. On the basis of analysis on the human gait motion measurement methods at home and abroad, a new measurement method is proposed, which could detect 4 DOF spatial motion of pelvis. The comprehensive gait experiment platform is developed, which could measure simultaneously the 4 DOF spatial motion of pelvis, hip, knee, ankle joint angular rotation and gait time-phase.
Gait experimental research taking the health young man as subject is carried out, Gait time phase, 4 DOF spatial motion of pelvis and hip, knee, ankle joint angular rotation are described by graphic method. Each of the gait motion features are analyzed and concluded.
Based on the experiment data and responding curves, sin function is proposed to descript the pelvis motion in X and Y direction, extended exponential function to descript the pelvis motion in Z direction; extended sigmoid function to descript the pelvis tilt angle around the vertical. Segment function in consist of function and extend is used to descript the sigmoid function to knee joint motion. Compound segment function is used to descript the ankle joint rotation. The feasibility study was clarified by the residual analysis.
Correlation analysis is carried out on the relationship between amplitude variable, phase variable of gait mode and subjects' height, walking speed. Regression analysis is carried out on distinctive characteristic variable, further more, extended the above gait model. According to the relativity between the gait motion feature and the height and walking speed. To check the correlation analyses, the experimental tests are carried out in turn, the results proved the practicality of the gait model and its extended model.
在综述分析了国内外有关人体步态运动测量方法的基础上,提出了一种检测骨盆四自由度运动的新方法,对其进行了理论分析,推导了求解人在跑步机上行走时骨盆沿空间三个坐标轴的平移运动和绕垂直轴的旋转运动的数学模型。在此基础上,提出了一套用于同时测量骨盆运动,下肢髋、膝、踝关节旋转运动以及步态时相的人体步态运动测量方案,并进行了相关理论分析。
研制了步态测量实验平台,以健康男性青年为对象进行了步态实验研究,对步态时相,骨盆四自由度运动和髋、膝、踝关节旋转运动进行了图形描述,并对各个步态运动特征进行了归纳分析。
在实验研究与步态图形描述的基础上,对骨盆沿相对坐标系x轴和y轴的运动采用了正弦函数进行模型描述;对骨盆沿相对坐标系z轴的运动采用了扩展指数函数进行模型描述;根据髋关节的旋转角度曲线特征,将S型Sigmoid函数进行了扩展,并将扩展后的函数作为髋关节转角曲线的回归模型对其描述;对膝关节旋转运动的模型描述采用了分段函数形式,节点两侧的曲线分别采用正弦函数和扩展Gaussian函数进行模型描述;运动曲线较复杂的踝关节旋转运动采用复合分段函数形式建模,节点间的曲线均采用扩展Sigmoid函数进行模型描述。对拟合函数进行了残差分析,分析结果验证了采用以上模型对人体步态运动进行定量分析的可行性。
对步态模型中的幅值和相位变量与身高和行走速度的关系进行了相关分析,将相关性显著的特征变量进行了回归分析,对步态模型进行了扩展。并对模型进行实验检验,检验结果表明了所建立的步态运动模型及扩展模型的可行性。
Walk is the most repetitive and complex integral movement in human daily life, its manner and style are called as gait. Generally speaking, one man's gait is a surface representation of self structure and function, motion regulation system, individual behavior and mental activity during walking. The study of the human gait feature during human walking has important science significance not only in understanding human motion law and discovering coordination decision among limbs, but also in the fields of clinical treatment, rehabilitation treatment, man-machine engineering, sports science, bionic mechanism hominine robot and so on. Therefore, the world attaches importance to these fields. The paper is sponsored by National Natural Science Foundation "Research on several critical techniques about lower limbs rehabilitative robot." The research method, process and conclusion about human gait model were demonstrated and analyzed in detail. On the basis of analysis on the human gait motion measurement methods at home and abroad, a new measurement method is proposed, which could detect 4 DOF spatial motion of pelvis. The comprehensive gait experiment platform is developed, which could measure simultaneously the 4 DOF spatial motion of pelvis, hip, knee, ankle joint angular rotation and gait time-phase.
Gait experimental research taking the health young man as subject is carried out, Gait time phase, 4 DOF spatial motion of pelvis and hip, knee, ankle joint angular rotation are described by graphic method. Each of the gait motion features are analyzed and concluded.
Based on the experiment data and responding curves, sin function is proposed to descript the pelvis motion in X and Y direction, extended exponential function to descript the pelvis motion in Z direction; extended sigmoid function to descript the pelvis tilt angle around the vertical. Segment function in consist of function and extend is used to descript the sigmoid function to knee joint motion. Compound segment function is used to descript the ankle joint rotation. The feasibility study was clarified by the residual analysis.
Correlation analysis is carried out on the relationship between amplitude variable, phase variable of gait mode and subjects' height, walking speed. Regression analysis is carried out on distinctive characteristic variable, further more, extended the above gait model. According to the relativity between the gait motion feature and the height and walking speed. To check the correlation analyses, the experimental tests are carried out in turn, the results proved the practicality of the gait model and its extended model.
引文
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