A Bipedal Walking Model Considering Trunk Pitch Angle for Estimating the Influence of Suspension Load on Human Biomechanics.

IF 4.4 2区医学 Q2 ENGINEERING, BIOMEDICAL

IEEE Transactions on Biomedical Engineering Pub Date : 2024-10-29 DOI:10.1109/TBME.2024.3487536

Qinhao Zhang, Wenbin Chen, Hanwen Zhang, Siyuan Lin, Caihua Xiong

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Abstract

Objective: Suspended loads have been shown to improve loaded-walking economy. Establishing a biped walking model with dynamic trunk pitch angles can provide more comprehensive estimates of the human biomechanical response under suspended loads.

Methods: We developed the trunk-load- hip dynamics, modified the spring-loaded-inverted-pendulum (SLIP) model, and optimized the loaded-walking pattern for minimal energetic cost. 9 subjects participated in experiments using a powered backpack to validate the model's performance, conducting two trials: Load-Suspended (LS) and Load-Locked (LL).

Results: The averaged correlation coefficient of simulated and experimental hip trajectory, vertical and horizontal GRFs, and individual leg mechanical (ILM) powers are 0.96, 0.97, 0.93, and 0.81, respectively. The RMS error between simulated and experimental peaks of vertical GRFs, braking peaks of horizontal GRFs, and energetic costs was under 10%. Simulation also provides observation on the effect of suspended load on dynamic trunk pitch angles and torques, and leg stiffness. Both the simulation and experiment demonstrated the advantages of LS in reducing GRFs and energetic cost. Additionally, the simulation shows the peaks of trunk flexion and extension torque are reduced by 34.77% (p<0.05) and 37.88% (p<0.05) in LS.

Conclusion: The model effectively estimates hip trajectory, vertical and horizontal GRFs, ILM powers, and energetic cost, and provides observations on trunk behavior under different load conditions. The model also supports the advantages of suspension load.

Significance: Appropriate models could comprehensively reveal the mechanism between the mechanical systems and human biomechanics responses, guide the design of carrying load devices, and provide rapid evaluation of its effects.

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考虑躯干俯仰角的双足行走模型，用于估算悬挂载荷对人体生物力学的影响

目的：悬挂负载已被证明可提高负重行走的经济性。建立具有动态躯干俯仰角的双足行走模型可以更全面地估计悬挂负载下的人体生物力学反应：我们开发了躯干-负载-髋关节动力学，修改了弹簧加载-倒摆（SLIP）模型，并优化了加载行走模式，以实现最小的能量成本。9 名受试者参加了使用动力背包验证模型性能的实验，共进行了两次试验：结果：模拟和实验髋关节轨迹、垂直和水平 GRFs 以及单腿机械力 (ILM) 的平均相关系数分别为 0.96、0.97、0.93 和 0.81。垂直 GRFs 的模拟峰值、水平 GRFs 的制动峰值和能量成本与实验峰值之间的均方根误差低于 10%。模拟还观察了悬挂负载对动态躯干俯仰角和扭矩以及腿部刚度的影响。模拟和实验都证明了 LS 在降低 GRF 和能量成本方面的优势。此外，模拟结果表明，躯干屈伸扭矩峰值降低了 34.77%（p 结论：该模型有效地估计了髋关节轨迹、垂直和水平 GRF、ILM 功率和能量成本，并提供了不同负载条件下躯干行为的观察结果。该模型还支持悬挂负荷的优势：意义：适当的模型可以全面揭示机械系统与人体生物力学反应之间的机理，指导承载负荷装置的设计，并对其效果进行快速评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Biomedical Engineering 工程技术-工程：生物医学

CiteScore

9.40

自引率

4.30%

发文量

880

审稿时长

2.5 months

期刊介绍： IEEE Transactions on Biomedical Engineering contains basic and applied papers dealing with biomedical engineering. Papers range from engineering development in methods and techniques with biomedical applications to experimental and clinical investigations with engineering contributions.