【摘要】 为了研究人在跑步过程中速度对膝关节运动生物力学的影响规律,基于Kane方法和半物理仿真方法建立下肢动力学模型,以健康男性青年为对象,对不同速度下的跑步过程进行实验研究和数据分析,建立以速度为自变量的膝关节运动模型.研究结果表明:步态初期足跟落地时刻,跑步速度越快,小腿向前伸展程度越大,越接近与大腿共线;步态中期,大腿向后伸展,小腿与大腿接近共线的最大程度,此时膝关节背面的韧带拉伸量最大,并且速度越慢,共线程度越明显;膝关节最大屈曲过程出现在步态后期,并且最大角度随着速度的增加而增加;随着跑步速度的增加,膝关节曲线前移.实验结论可用于康复机器人、类人机器人等研究领域.更多还原

【Abstract】 To study the effect of speed on the biomechanics of a knee joint during running,a biomechanical model of human lower limb joints is established based on the Kane method and semi-physical simulation.Experiments on the running process were made at different speeds for healthy young men.The influence of running speed on knee joint motion is analyzed quantitatively and a mathematical model of the knee angle is established with speed as the independent variable.Results show that,at the moment of the heel contacting with the ground,with the increase of speed,the calf stretches forward more,and the calf and thigh are closer to the same line.In the middle stage of a gait cycle,the thigh stretches back,and then the calf and thigh are close to collineation.At that moment,the stretch of the posterior cruciate ligament is the largest,and the slower the speed,the more obvious the collineation.The maximal joint angle of the calf relative to the thigh appears in the later stage,and the maximal joint angle increases with the increase of the velocity.With the increase of the running speed,the phase of the curve of knee angle moves forward.The results can be used in the field of rehabilitation robotics and humanoid robot.更多还原