Effect of Dual-Tasks Walking on Human Gait Patterns
作者机构：Lab of Locomotion Bioinspiration and Intelligent RobotsCollege of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing 210016China Olympic CollegeCommunication University of China NanjingNanjing 211162China Department of Sports Health SciencesNanjing Sport Institute8 Linggusi RoadNanjing 210014China Centre of Scientific ExperimentNanjing Sport InstituteNanjing 210014China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2022年第19卷第4期
页 面：991-1002页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by the Social Development Project of Jiangsu Science and Technology Department(grant no.BE2017766) the National Natural Science Foundation of China(grant nos.51861135306 and 51875281) the Natural Science Research of Jiangsu Education Department(grant no.17KJB130007)
主 题：Gait analysis Kinematics COM trajectory Kinesiology
摘 要：A human gait pattern conformed to the law of the inverted pendulum and could be described by the movement of its center of mass(COM).A sinusoidal function based on an inverted pendulum was used to plan the COM trajectory of humanoid robots for gait ***,studying the human dual-tasks gait pattern is essential for improving the gait adaptability of humanoid *** well-known humanoid robot prototypes can complete stable walking,running,jumping,and other movements closely mimicking human *** study provides a theoretical reference for the gait planning and design of humanoid robots by comparing differences in the stride time,cadence,step length,step width,stride length,walking speed and COM movement during single-and dual-tasks *** showed no significant difference in the time *** dual-tasks walking,the walking speeds decreased(P=0.001)and the COM sidewise movement increased,indicating an enhancement in the automatic motion rhythm in cognitive *** can easily select new different speeds to better adapt to the competition of attention *** enhance the adaptability of humanoid robots to the COM offset,the independent motion of the hip joint separated from the trunk and lower limbs must be considered in the robot design.
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