论文标题
人体跑步的姿势稳定性，并进行降低扰动：一项实验和数值研究
Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study
论文作者
论文摘要
姿势稳定性是两足球运动中最关键的元素之一。双皮子动态不稳定，需要保持其躯干直立在地面反作用力（GRF）引起的旋转上，尤其是在运行时。步态研究报告说，GRF矢量集中在质量中心（VPA）上方的虚拟点上，而后备箱在人类运行的立场阶段以俯仰轴向前移动。但是，最近的一项模拟研究表明，由于VPA在立场阶段产生向后的躯干旋转，因此在人类跑步中可能存在一个虚拟点（VPB）以下（VPB）。在这项工作中，我们执行步态分析，以研究人类在5 ms-1运行中的VP的存在和位置，并使用带有躯干（TSLIP）的弹簧倒置的摆模型来数字支持我们的发现。我们将分析扩展到包括地形高度（可见和伪装）的扰动，并研究VP机制对降低扰动的响应。我们的实验结果表明，在姿势阶段，人类跑步步态显示出〜-30厘米的VPB和向前的躯干运动。伪装的降低扰动会影响VPB的位置。我们的仿真结果表明，VPB能够遇到降低扰动并将系统恢复到其初始平衡状态。
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced by the ground reaction forces (GRFs), especially when running. Gait studies report that the GRF vectors focus around a virtual point above the center of mass (VPA), while the trunk moves forward in pitch axis during the stance phase of human running. However, a recent simulation study suggests that a virtual point below the center of mass (VPB) might be present in human running, since a VPA yields backward trunk rotation during the stance phase. In this work, we perform a gait analysis to investigate the existence and location of the VP in human running at 5 ms-1, and support our findings numerically using the spring-loaded inverted pendulum model with a trunk (TSLIP). We extend our analysis to include perturbations in terrain height (visible and camouflaged), and investigate the response of the VP mechanism to step-down perturbations both experimentally and numerically. Our experimental results show that the human running gait displays a VPB of ~-30cm and a forward trunk motion during the stance phase. The camouflaged step-down perturbations affect the location of the VPB. Our simulation results suggest that the VPB is able to encounter the step-down perturbations and bring the system back to its initial equilibrium state.
