A Kinematic Analysis of Joint Synergy of the Lower Limb in Human Locomotion

作     者：Sadahiro Senda Nanase Takata Katsuyoshi Tsujita 

作者机构：Department of Biomedical Engineering Osaka Institute of Technology Osaka 535-8585 Japan Department of Robotics Osaka Institute of Technology Osaka 535-8585 Japan 

出 版 物：《Journal of Mechanics Engineering and Automation》 (机械工程与自动化（英文版）)

年 卷 期：2014年第4卷第2期

页      面：149-157页

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Measurement control systems and information system integration industrial applications. 

摘      要：This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.