{"title":"人类行走的平衡稳定性特征与首选,快速和慢速","authors":"Joo H. Kim, William Z. Peng","doi":"10.17077/dhm.31773","DOIUrl":null,"url":null,"abstract":"This work presents a model-based method of evaluating and quantifying stability characteristics of human walking in the sagittal plane. The stability criteria used for this analysis are boundaries in the state space of the center of mass (COM), which represent the maximum capability of a human to maintain balance in single support (SS) and double support (DS) phases or to make a desired step without falling. Complete models of the system dynamics, biomechanical characteristics, its contact interaction with the ground, and gait parameters, are considered. Experimental human COM trajectories during walking are analyzed against computed stability boundaries to quantify the nature of human gait across walking speeds. Stability comparisons with other robotic platforms, an exoskeleton and a humanoid robot, are also provided.","PeriodicalId":111717,"journal":{"name":"Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022) and Iowa Virtual Human Summit 2022 -","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Balance stability characteristics of human walking with preferred, fast, and slow speeds\",\"authors\":\"Joo H. Kim, William Z. Peng\",\"doi\":\"10.17077/dhm.31773\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This work presents a model-based method of evaluating and quantifying stability characteristics of human walking in the sagittal plane. The stability criteria used for this analysis are boundaries in the state space of the center of mass (COM), which represent the maximum capability of a human to maintain balance in single support (SS) and double support (DS) phases or to make a desired step without falling. Complete models of the system dynamics, biomechanical characteristics, its contact interaction with the ground, and gait parameters, are considered. Experimental human COM trajectories during walking are analyzed against computed stability boundaries to quantify the nature of human gait across walking speeds. Stability comparisons with other robotic platforms, an exoskeleton and a humanoid robot, are also provided.\",\"PeriodicalId\":111717,\"journal\":{\"name\":\"Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022) and Iowa Virtual Human Summit 2022 -\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022) and Iowa Virtual Human Summit 2022 -\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.17077/dhm.31773\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 7th International Digital Human Modeling Symposium (DHM 2022) and Iowa Virtual Human Summit 2022 -","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.17077/dhm.31773","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Balance stability characteristics of human walking with preferred, fast, and slow speeds
This work presents a model-based method of evaluating and quantifying stability characteristics of human walking in the sagittal plane. The stability criteria used for this analysis are boundaries in the state space of the center of mass (COM), which represent the maximum capability of a human to maintain balance in single support (SS) and double support (DS) phases or to make a desired step without falling. Complete models of the system dynamics, biomechanical characteristics, its contact interaction with the ground, and gait parameters, are considered. Experimental human COM trajectories during walking are analyzed against computed stability boundaries to quantify the nature of human gait across walking speeds. Stability comparisons with other robotic platforms, an exoskeleton and a humanoid robot, are also provided.