论文标题
关于头部稳定对人体测量步行器的被动动力学的机械贡献
On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers
论文作者
论文摘要
在稳定的步态过程中，人类稳定了垂直方向的头部。尽管对这种现象有感觉认知的解释，但它对人体动力学的机械效果仍未得到探索。在这项研究中，我们从人类稳定步态与被动动态机器人运动的相似之处中获利。我们引入了简化的人体测量学D模型，以重现广泛的步行动力学。在先前的研究中，我们从启发式上表明，稳定的头颈系统的存在显着影响步行动力学。本文提供了新的见解，从而导致理解这种机械性能。特别是，我们引入了一个原始的购物车上体模型，该模型可以更好地理解行走时头部稳定的机械兴趣，并研究了这种效果如何对控制参数的选择敏感。
During the steady gait, humans stabilize their head around the vertical orientation. While there are sensori-cognitive explanations for this phenomenon, its mechanical e fect on the body dynamics remains un-explored. In this study, we take profit from the similarities that human steady gait share with the locomotion of passive dynamics robots. We introduce a simplified anthropometric D model to reproduce a broad walking dynamics. In a previous study, we showed heuristically that the presence of a stabilized head-neck system significantly influences the dynamics of walking. This paper gives new insights that lead to understanding this mechanical e fect. In particular, we introduce an original cart upper-body model that allows to better understand the mechanical interest of head stabilization when walking, and we study how this e fect is sensitive to the choice of control parameters.
