人下坡行走时对滑移扰动引起的步态失稳的自适应平衡反应

Human adaptive balance reaction to gait instability caused by slip disturbance during downhill walking

针对人在下坡行走时常因滑移造成后向跌倒的现象,研究了下坡过程中滑移扰动引发的步态失稳,并利用足底压力分析与步态分析手段,探究了人体下肢潜在的自适应平衡反应。选择了10名健康男性受试者在坡度为0、1:12、1:10的干燥介质坡面和油介质坡面上进行了下坡行走对比试验,并采集分析了时一空步态参数和足底压力参数的变化规律。结果表明,不同坡度下坡行走遇滑移扰动后的自适应平衡反应存在明显差异。就整体参数而言,坡度为1:12、1:10时的调节反应具有一致性;对于个别参数,坡度为0时的调节反应与坡度为1:12、1:10时不同。足跟触地、承重期与预摆期均存在明显调节反应,这些时期是进行自适应平衡调节的重要时期。此项研究可为避免滑跌提供技术指导,为双足机器人下坡时步态规划提供参考数据。

Aiming at the slip caused backward fall phenomenia during people＇ s downhill walking, this study explored the gait instability caused by slip disturbance, the potential adaptive balance reaction of human lower limbs by using the methods of plantar pressure analysis and gait analysis. Ten healthy male subjects were selected to downhill walk respectively on the dry road surface and the slippery road surface under three different slopes of O, 1：12 and 1：10, and based on the data acquired from the experiment, the changing rules of spatiotemporal gait parameters, plantar pressure parameters and kinetic parameters were analyzed. The experimental results showed that the adaptive bal- ance reactions to the slip disturbances under the different slops were obviously different. In terms of the overall pa- rameters, the adjustment reactions under the slops of 1：12 and 1：10 were consistent. For a few parameters, the ad- justment reaction under the slope of 0 was different from that under the slopes of 1 ： 12 and 1 ： 10. Obvious adjust- ment reactions existed in the initial contact time, tant adaptive adjustment data for two-foot robots＇ periods. The study is of downhill gait planning loading response phase and preswing phase, which are the impor- guiding significance for avoiding slips and can provide reference