人体行走的质心动力学原理
Dynamic Principles of Center of Mass in Human Walking
摘要：
通过分析和数值计算，研究了人体步态初始触地时间与地面反作用力的关系，探讨了人体质心的动力学原理。假设在一个跨步周期的同一阶段双脚的地面反作用力相等，建立了双脚初始触地时间与地面反作用力、加速度、速度、位移和质心平均动能之间的关系。我们采用分散来分析施加在这些物理量上的初始脚接触的时间的效果。我们的研究表明，当一只脚的初始接触时间正好落在另一只脚的步幅周期的中间时，这些物理量达到极值。用物理量的离散度作为作用函数，并通过优化分析证明了步态的最小作用量原理。对这一原理的探索不仅对临床诊断、机器人步态控制等研究领域具有重要意义，而且可以简化对步态基本特性的理解。
英文摘要：
We present results of an analytic and numerical calculation that studies the relationship between the time of initial foot contact and the ground reaction force of human gait and explores the dynamic principle of center of mass. Assuming the ground reaction force of both feet to be the same in the same phase of a stride cycle, we establish the relationships between the time of initial foot contact and the ground reaction force, acceleration, velocity, displacement and average kinetic energy of center of mass. We employ the dispersion to analyze the effect of the time of the initial foot contact that imposes upon these physical quantities. Our study reveals that when the time of one foot's initial contact falls right in the middle of the other foot's stride cycle, these physical quantities reach extrema. An action function has been identified as the dispersion of the physical quantities and optimized analysis used to prove the least-action principle in gait. In addition to being very significant to the research domains such as clinical diagnosis, biped robot's gait control, the exploration of this principle can simplify our understanding of the basic properties of gait.
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