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Segmental Kinematic Coupling of the human Spinal Column during locomotion

Journal of Bionic Engineering 2008年第4期5卷 328-334页

作者： Guo-ru Zhao Lei Ren Lu-quan Ren John R. Hutchinson Li-mei Tian Jian S. Dai Key Laboratory for Terrain-Machine Bionics Engineering （Ministry of Education China） Jilin University Changchun 130022 P. R. China School of Physical Science and Engineering King＇s College of London University of London London WC2R 2LS UK Structure and Motion Laboratory Department of Veterinary Basic Sciences The Royal Veterinary College University of London Hertfordshire AL9 7TA UK

As one of the most important daily motor activities, human locomotion has been investigated intensively in recent decades. The locomotor functions and mechanics of human lower limbs have become relatively well understood. However, so far our understanding of the motions and functional contributions of the human spine during locomotion is still very poor and simultaneous in-vivo limb and spinal column motion data are scarce. The objective of this study is to investigate the delicate in-vivo kinematic coupling between different functional regions of the human spinal column during locomotion as a stepping stone to explore the locomotor function of the human spine complex. A novel infrared reflective marker cluster system was constrncted using stereophotogrammetry techniques to record the 3D in-vivo geometric shape of the spinal column and the segmental position and orientation of each functional spinal region simultaneously. Gait measurements of normal walking were conducted. The preliminary results show that the spinal column shape changes periodically in the frontal plane during locomotion. The segmental motions of different spinal functional regions appear to be strongly coupled, indicating some synergistic strategy may be employed by the human spinal column to facilitate locomotion. In contrast to traditional medical imaging-based methods, the proposed technique can be used to investigate the dynamic characteristics of the spinal column, hence providing more insight into the functional biomechanics of the human spine.

关键词： biomechanics spinal cofumn human locomotion in-vivo segmental kinematics motion analysis stereophotogrammetry kinematic coupling

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An Experimental Analysis of Overcoming Obstacle in human Walking

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Journal of Bionic Engineering 2014年第4期11卷 497-505页

作者： Tao Li Marco Ceccarelli Minzhou Luo Med Amine Laribi Said Zeghloul Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino 03043 Italy Institute PPRIME- DGMSC CNRS-University of Poitiers- ENSMA 15 Rue de l'Hotel Dieu 86000 Poitiers France

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

关键词： human locomotion overcoming obstacle walking gait biped robot motion capture

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Dynamic Stability of Passive Bipedal Walking on Rough Terrain： A Preliminary Simulation Study

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Journal of Bionic Engineering 2012年第4期9卷 423-433页

作者： Parsa Nassiri Afshar Lei Ren School of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M13 9PL UK Key Laboratory of Bionic Engineering (Ministry of Education China) Jilin University Changehun 130022 P.R. China

A simplified 2D passive dynamic model was simulated to walk down on a rough slope surface defined by deterministic profiles to investigate how the walking stability changes with increasing surface roughness. Our results show that the passive walker can walk on rough surfaces subject to surface roughness up to approximately 0.1% of its leg length. This indicates that bipedal walkers based on passive dynamics may possess some intrinsic stability to adapt to rough terrains although the maxi- mum roughness they can tolerate is small. Orbital stability method was used to quantify the walking stability before the walker started to fall over, It was found that the average maximum Floquet multiplier increases with surface roughness in a non-linear form. Although the passive walker remained orbitally stable for all the simulation cases, the results suggest that the possibility of the bipedal model moving away from its limit cycle increases with the surface roughness if subjected to additional perturbations. The number of consecutive steps before falling was used to measure the walking stability after the passive walker started to fall over. The results show that the number of steps before falling decreases exponentially with the increase in surface roughness. When the roughness magnitude approached to 0.73% of the walker＇s leg length, it fell down to the ground as soon as it entered into the uneven terrain. It was also found that shifting the phase angle of the surface profile has apparent affect on the system stability. This is probably because point contact was used to simulate the heel strikes and the resulted variations in system states at heel strikes may have pronounced impact on the passive gaits, which have narrow basins of attraction. These results would provide insight into how the dynamic stability of passive bipedal walkers evolves with increasing surface roughness.

关键词： bipedal walking rough terrain dynamic stability human locomotion

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An Experimental Analysis of Stability in human Walking

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Journal of Bionic Engineering 2018年第5期15卷 827-838页

作者： Zhipeng Wang Bin He Yanmin Zhou Tingting Yuan Shoulin Xu Minzhi Shao Department of Control Science and Engineering Tongji University Shanghai 201804 China College of Arts and Media Tongji University Shanghai 201804 China

Biped locomotion has excellent environment adaptability due to natural selection and evolution over hundreds of millions years. However, the biped walking stability mechanism is still not clear. In this paper, an experimental analysis of walking stability in human walking is carried out by using a motion capture system. A new stability analysis method is proposed based on Zero Moment Point （ZMP） and Sliding Time Window （STW）. The influences of ground friction coefficient, ground slope angle and contact area of support polygon on human walking stability are investigated. The experiment is carried out with 12 healthy subjects, and 53 passive reflective markers are pasted to each subject to obtain moving trajectory and to calculate lower limb joint variation during walking. Experimental results show that ground friction coefficient, ground slope angle and contact area have significant effects on the stride length, step height, gait cycle and lower limb joint angles. When walking with small stability margin, subjects modulate gait to improve the stability, such as shortening stride length, reducing step height, and increasing the gait cycle. These results provide insights into the stability mechanism of human walking, which is beneficial for locomotion control of biped robots.

关键词： human locomotion walking stablity walking gait biped robot motion caption system

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On the Centre of Mass Motion in human Walking

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International Journal of Automation and computing 2017年第5期14卷 542-551页

作者： Justin Carpentier Mehdi Benallegue Jean-Paul Laumond LAAS-CNRS University of Toulouse humanoids Research Group National Institute of Advanced Industrial Science and Technology

The center of mass （CoM） is a key descriptor in the understanding and the analysis of bipedal locomotion. Some approaches are based on the premise that humans minimize the CoM vertical displacement. Other approaches express walking dynamics through the inverted pendulum model. Such approaches are contradictory in that they lead to two conflicting patterns to express the CoM motion： straight line segments for the first approaches and arcs of a circle for the second ones. In this paper, we show that CoM motion is a trade-off between both patterns. Specifically, CoM follows a ＂curtate cycloid＂, which is the curve described by a point rigidly attached to a wheel rolling on a flat surface. We demonstrate that all the three parameters defining a curtate cycloid only depend on the height of the subjects.

关键词： human locomotion analytical model centre of mass locomotion signature synergies.

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