【摘要】 该文就正常情况和跖趾关节运动受到约束时的自然步态特征从实验的角度进行了研究 ,这对于康复训练、假肢设计以及拟人机器人的控制规划均有十分重要的意义。结果表明 :在跖趾关节运动受到约束后 ,人体其它关节角位移峰 -峰值和角速度峰 -峰值均有明显变化。为实现由于跖趾关节受到约束后的协调行走 ,人体其它关节会有相应的补偿运动。由实验可知 ,运动补偿主要发生在踝关节和膝关节 ,同时上躯干也加入到补偿之中。由于多关节协调运动补偿 ,人体在跖趾关节运动受到约束后 ,其自然行走步态的平均步速和步长可达到正常情况的 94 .8%和 95 .5 %。更多还原

【Abstract】 The purpose is to investigate the action of metatarsophalangeal (MP) joint flexion on gait pattern and the responses of subjects when their MP joints are constrained. The study will be useful for physical therapy, prosthesis designing and gait planning for biped robot. Five healthy young subjects were instructed to walk at their preferred speed on a level pathway with and without MP joint flexion. Differences were seen between the peak angular displacements and velocities of each joint for subjects with and without constraints. When the MP joints were constrained, the movement of other joints was modified in a multi-joint coordination motion compensatory strategy involving the hip, knee and ankle joints. The knee and ankle joints provided the most significant compensation with some additional effect from the back. The compensation strategies enable the subjects with constrained MP joints to walk in a nearly normal gait with an average speed 94.8% of normal and an average stride length 95.5% of normal.更多还原