摘要
为研究人体受到扰动后的平衡模式。利用Kane方法建立了人体5刚体4自由度站立受扰平衡的动力学模型。4个年轻受试者进行了不同强度的20次扰动实验。结果表明,人体受扰后肢体绕跖趾关节的翻转动量矩可用来表示扰动强度。不同扰动强度,平衡模式不同,如身体摆动、单跨步和双跨步。而且平衡过程是多关节协调运动,各关节均参与平衡恢复,其中跖趾关节和髋关节对于平衡恢复起主要作用,膝关节的贡献较小。上述研究对于平衡机能的康复训练和拟人机器人的平衡控制均具有重要意义。
A 4 degreeoffreedom dynamic model of a standing human body, which includes the metatarsophalangeal (MP) joints, was derived using Kane method to study the relationship between the balance mode and the extent of a disturbance to the balance. Four health young subjects were recruited to test different size disturbances. Balance recovery strategies were analyzed by studying the mechanical energy generation and absorption at each joint during the recovery process. The results show that the stability of the human body after a perturbation deteriorates with increasing magnitude of the rotation momentum of the body relative to the MP joint. The tests also show that the balance recovery mode changes with the disturbance intensity. Recovery includes multiplejoint coordination, e.g. all joints contribute to balance recovery. MP joints and hip joints, however, dominate the contributions to the balance recovery from perturbations. The results will facilitate physical training of balance hypofunction patients and balance control of biped robots.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第2期152-155,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金资助项目(30170242)
清华大学"九八五"拟人机器人资助项目
高等学校博士点科研基金资助项目(20010003060)
