步态模式对人体髋膝踝关节运动协调关系的影响

摘要 目的：分析不同步态模式下髋膝踝关节的运动协调关系，为下肢智能假肢和助行外骨骼控制系统的运动规划提供依据。 方法：利用红外光点运动捕捉系统，采集10名20—35岁健康青年志愿者进行平地行走、上楼梯和下楼梯三种步态的运动轨迹，采用运动循环图对髋膝踝关节运动角度参数进行统计分析。 结果：不同步态模式的髋膝踝关节运动循环图存在显著的差异。 结论：步态模式对髋膝踝关节的运动协调关系有显著影响，下肢假肢和外骨骼可以借鉴相应的运动协调模式降低机械结构和控制系统的复杂性。

Effects of different kind of gaits on the discipline of joint coupling among hip, knee and ankle

Abstract Objective: To analyze the discipline of joint coupling among hip, knee and ankle in different gait conditions, and to offer the basic-consideration for the motion planning of the motion control systems. The systems would be applied in the lower intelligent prostheses and the exoskeletons. Method: A total of 10 healthy young volunteers with the ages between 20 and 35 were chosen for the gait experiments. The experimental data of normal walking, stair ascent and stair descent was collected by the motion capture system with PSD infrared camera. , and the parameters of joint angles were achieved by Cyclogram and analyzed statistically. Result: In different gait condition, there was a conspicuous difference in the discipline of joint coupling. Conclusion: The discipline of joint coupling was is the theoretical base of joint movement coordination mechanism. The related research could be used to direct the design and control of prosthetic or exoskeleton joint, which can simplify the mechanical structure and improve the control system of the prostheses and exoskeletons.