躯干负重对步态的影响及相应补偿策略的试验研究

The Effects of Increasing Loading upon the Trunk on the Gait and Corresponding Compensatory Strategy

目的:研究躯干负重时的步态特征及相应补偿策略,探讨躯干不同负重重量对步态的影响,为负重方式的选择、负重装备的改进或仿人机器人的设计提供参考。方法:选用10名普通男性大学生为受试者,佩戴特制的可控制负重物重心位置的负重架,将负重物前后均匀安放,进行3种负重状态(负重物重量分别为0 kg,20 kg,40 kg)下的行走,采用Kistler三维测力台、Motion红外高速运动捕捉系统同步采集运动学、动力学数据。结果:行走中躯干负重重量的增加,显著增加了步宽、支撑相百分比、膝关节屈曲角度、踝关节和膝关节力矩、下肢各关节功率和功(P<0.05),显著减小了步长、重心的上下摆动幅度、躯干的旋转幅度(P<0.05)。结论:人体通过减小步长、增加步宽、增加支撑相百分比、降低重心在上下方向摆动幅度、增大踝、膝关节力矩及膝关节屈曲角度来补偿躯干负重增加对人体步行中平衡控制的影响;躯干前后均匀负重,限制躯干的旋转,影响人体迈步的平衡;在仿人机器人的步态规划的设计中,当躯干负重增加时,应适当调整相应参数,增大驱动力,满足更多能耗。

Objective：The purpose of this study was to insight into the effects of increasing loading on human walking and to provide the basis for the choice of loading conditions,the improvement of loading equipment and the design of robots.Methods：A special loading device was made for the experiment to control the COM of the loading on the human posture.Ten male college students completed walking with 0kg,20kg,and 40kg respectively.Results：The increasing loading significantly increased step width,the stance phase proportion,knee flexion angle,ankle and knee moment and the ankle,knee and hip power,and work（P〈0.05）,and decreased significantly step length,the vertical range of COM and the range of trunk rotation（P〈0.05）.Conclusions：With the increasing loading on the trunk,the human body increase step width,stance phase proportion,knee flexion angle,ankle and knee moment,and decrease step width,the vertical range of the COM to keep balance.During the design of the gait planning of humanoid robot,the gait parameters need readjusting and lower limb driving force needs increasing.