下坡步态失稳后的自适应平衡分析——坡度i=1∶10

Analysis of adaptive equilibrium after gait instability in downhill:ration of slope:1:10

以人下坡行走过程中偶发的滑跌现象为研究对象,采用表面肌电分析法,探究人下坡失稳后的自主平衡恢复反应机理。选取10名健康男性在坡度为1︰10的坡道上进行湿滑介质油和干燥环境下的下坡行走试验,采用Vicon运动捕捉系统和表面肌电系统同步采集步态参数和下肢8块主要肌肉的肌电信号,得出步速和步态时间的显著性p值分别为0.000、0.025(<0.05),故受到滑移扰动后,步速显著增加,步态时间显著减小;左右两侧肌肉的收缩特性在第一双支撑相和单支撑相无明显变化,在第二双支撑相和摆动相显著增加。依此总结出在坡度为1∶10的坡道环境下,一个步态周期各个时相内双足机器人下肢左右侧施加控制力的位置、施力大小及作用时间。该试验结果可为康复工程提供理论基础,并指导双足机器人的平衡控制系统设计。

With respect to an accidental slip in downhill walking,this study aimed to explore the self-balancing mechanism of people after losing gait stability.Ten adult males participated in a walking test across a slope of 1in 10,coated with either slippery（oil）or dry medium and were analyzed surface electromyography.The vicon motion capture systemand surface electromyography were used to collect synchronous data on gait parameters of lower limb and electromyographic signal of eight muscles.After analyzing the surface electromyography and gait parameters,significant p-values of pace and gait were determined to be 0.000and0.025,respectively.Results showed that gait time decreases significantly as pace increases significantly under the disturbance.Furthermore,there was no obvious change to muscular contraction on both sides at the first double-support phase and the singlesupport phase,but it increased dramatically at the second double-support phase and the swing phase.More importantly,in examining agait as a cycle,the force points,magnitude,and duration upon the lower limbs of a bipedal robot on a slope of 1in 10 were summarized in each phase.The findings could provide a theoretical basis for rehabilitation engineering,and guide the balance control system design of bipedal robots.