模拟不同重力水平下多种步态中下肢关节运动特征研究
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摘要
为探索低重力环境对人体行走和跑步时下肢关节运动特性的影响,搭建了一种悬吊式低重力模拟装置,采用惯性运动捕捉系统,对9名男性受试者在常规重力(1g)、模拟火星重力(1/3g)和模拟月球重力(l/6g)条件下的平地行走(速度4 km/h)、平地慢跑(速度7 km/h)和坡地行走(速度3.6 km/h、坡度15°)进行运动测量,得到了不同重力水平下平地与坡地行走和跑步时髋、膝与踝关节的关节活动范围等运动学数据。结果表明,下肢各关节在矢状面上的屈曲/伸展活动范围远大于冠状面的内收/外展和横截面上的内旋/外旋活动。模拟低重力条件下,髋关节和膝关节在各个平面上的活动范围均明显减小,踝关节活动角度无显著变化规律。通过分析一个步态周期内各关节在矢状面上的角度变化发现,低重力条件下,步态运动的支撑时相变短,摆动时相变长,步态更加缓慢,且倾向于采用一种行走-蹦跳的步态策略。基于以上实验结果,梳理出了满足平地与坡地多种步态需求的下肢关节活动范围,并对星际航天服下肢关节配置进行了初步讨论。
To investigate the influence of low-gravity on the kinematic characteristics of lower limb joints during human walking and running, a suspension type low-gravity simulation device was designed and the inertial motion capture system was used to measure the lower limb motions in 9 male volunteers during ground walking(v=4 km/h), ground running(v=7 km/h) and 15° slope walking(v=3.6 km/h)under traditional earth gravity(1g), simulated Mars gravity(1/3g) and lunar gravity(1/6g). The variation of joint angle and range of motion in hip, knee and ankle joints during various gaits under different gravity conditions were obtained. The results indicated that the range of motion at the sagittal plane was much larger than those at the coronal and horizontal planes. Under simulated low-gravity, the ranges of motion in hip and knee joints at three planes decreased obviously, while the ranges of motion in ankle joint had no significant variation. By analyzing the variation of angle in each joint at the sagittal plane during a gait cycle, it was found that under low-gravity the stance phase became shorter and the swing phase became longer with a slower gait movement, and a walk-skip strategy was preferred. Based on the above experiment results, the range of motion in lower limb joints satisfying the requirement of walking and running on flat ground and slope was sorted out. Moreover, the configuration of lower limb joints for advanced spacesuit was discussed roughly.
To investigate the influence of low-gravity on the kinematic characteristics of lower limb joints during human walking and running, a suspension type low-gravity simulation device was designed and the inertial motion capture system was used to measure the lower limb motions in 9 male volunteers during ground walking(v=4 km/h), ground running(v=7 km/h) and 15° slope walking(v=3.6 km/h)under traditional earth gravity(1g), simulated Mars gravity(1/3g) and lunar gravity(1/6g). The variation of joint angle and range of motion in hip, knee and ankle joints during various gaits under different gravity conditions were obtained. The results indicated that the range of motion at the sagittal plane was much larger than those at the coronal and horizontal planes. Under simulated low-gravity, the ranges of motion in hip and knee joints at three planes decreased obviously, while the ranges of motion in ankle joint had no significant variation. By analyzing the variation of angle in each joint at the sagittal plane during a gait cycle, it was found that under low-gravity the stance phase became shorter and the swing phase became longer with a slower gait movement, and a walk-skip strategy was preferred. Based on the above experiment results, the range of motion in lower limb joints satisfying the requirement of walking and running on flat ground and slope was sorted out. Moreover, the configuration of lower limb joints for advanced spacesuit was discussed roughly.
引文
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[3] 王世杰,李雄耀,唐红,等.月面环境与月壤特性研究的主要问题探讨[J].地球化学,2010,39(1):73-81.Wang S J,Li X Y,Tang H,et al.Lunar surface environment and properties of lunar soil:A review [J].Geochimica.2010,39(1):73-81.(in Chinese)
[4] 陈景山,李潭秋,边晋梅,等.航天服工程[M].北京:国防工业出版社,2002:181-194.Chen J S,Li T Q,Bian J M,et al.Spacesuit Engineering [M].Beijing:National Defense Industry Press,2002:181-194.(in Chinese)
[5] Schmidt,Barrett P.An Investigation of Space Suit Mobility with Applications to EVA Operations[D].Massachusetts:Massachusetts Institute of Technology,2001.
[6] Jacobs S,Tufts D.Space suit development for the multi-purpose crew vehicle[C]//42nd International Conference on Environmental System.San Diego,California:AIAA,2012:3550.
[7] Ackermann M,Van den Bogert A J.Predictive simulation of gait at low gravity reveals skipping as the preferred locomotion strategy[J].Journal of Biomechanics,2012,5(7):1293-1298.
[8] Ackermann M,Van den Bogert A J.Optimality principles for model-based prediction of human gait[J].Journal of Biomechanics,2010,43(6):1055-1060.
[9] Minetti A E,Alexander R M.A theory of metabolic costs for bipedal gaits[J].Journal of Theoretical Biology,1997,186(4):467-476.
[10] Minetti A E,Alexander R M.Biomechanics:walking on the other planets[J].Nature,2001,409(6819):467-469.
[11] 王成焘,王冬梅,白雪岭,等.人体骨肌系统生物力学[M].北京:科学出版社,2015:5-8,71-74.Wang C T,Wang D M,Bai X L,et al.Human Musculoskeletal System Biomechanics [M].Beijing:Science Press,2015:5-8,71-74.(in Chinese)
[12] Neumann D A.Kinesiology of the Musculoskeletal System Foundation for Rehabilitation [M].Singapore:Elsevier,2014:638-644.
[13] Novacheck T.The biomechanics of running[J].Gait & Posture,1998,7(1):77-95.
[14] 唐刚.人体典型运动生物力学仿真分析[D].上海:上海交通大学,2011.Tang G.Biomechanics Simulation Analysis for Typical Movements of Human[D].Shanghai:Shanghai Jiao Tong University,2011.(in Chinese)
[15] 王劲松,王令军,王婷,等.不同步速下人体步态规律的测量与研究[J].传感器与微系统,2008,27 (9):43-45.Wang J S,Wang L J,Wang T,et al.Measurement and study of the human gait law at asynchronous speed[J].Transducer and Microsystem Technologies,2008,27(9):43-45.(in Chinese)
[16] 张瑞红,金德闻.不同路况下正常步态特征研究[J].清华大学学报:自然科学版,2000,40(8):77-80.Zhang R H,Jin D W.Normal gait patterns on different terrain[J].Journal of Tsinghua University:Sci& Tech,2000,40(8):77-80.(in Chinese)
[17] 唐刚,张希安,季文婷,等.坡面步行中青年女性下肢关节角及肌肉激活度[J].医用生物力学,2011,26(2):158-192.Tang G,Zhang X A,Ji W T,et al.Joint angles and muscle activations in the lower limb of young women during slope walking[J].Journal of Medical Biomechanics,2011,26(2):158-192.(in Chinese)