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首页> 外文期刊>Journal of Biomechanics >The human ankle during walking: implications for design of biomimetic ankle prostheses
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The human ankle during walking: implications for design of biomimetic ankle prostheses

机译：步行过程中的人脚踝：仿生脚踝假体设计的意义

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The non-disabled human ankle joint was examined during walking in an attempt to determine overall system characteristics for use in the design of ankle prostheses. The hypothesis of the study was that the quasi-stiffness of the ankle changes when walking at different walking speeds. The hypothesis was examined using sagittal plane ankle moment versus ankle angle curves from 24 able-bodied subjects walking over a range of speeds. The slopes of the moment versus ankle angle curves (quasi-stiffness) during loading appeared to change as speed was increased and the relationship between the moment and angle during loading became increasingly non-linear.The loading and unloading portions of the moment versus angle curves showed clockwise loops (hysteresis) at self-selected slow speeds that reduced essentially to zero as the speed increased to self-selected normal speeds. Above self-selected normal speeds, the loops started to traverse a counter-clockwise path that increased in area as the speed was increased. These characteristics imply that the human ankle joint could be effectively replaced with a rotational spring and damper for slow to normal walking speeds. However, to mimic the characteristics of the human ankle during walking at fast speeds, an augmented system would be necessary. This notion is supported by the sign of the ankle power at the time of opposite heel contact, which was negative for slow speeds, was near zero at normal speeds, and was positive for fast walking speeds. (C) 2004 Elsevier Ltd. All rights reserved.
机译：步行过程中检查了非残障人的踝关节，以试图确定用于踝关节假体设计的整体系统特征。该研究的假设是，以不同的步行速度行走时，踝关节的准刚度会发生变化。使用来自24个身体健康的受试者在一定速度范围内行走的矢状面踝力矩与踝角度曲线检验了这一假设。加载过程中力矩对踝角曲线的斜率（准刚度）似乎随着速度的增加而变化，并且加载过程中力矩与角之间的关系变得越来越非线性。力矩对角曲线的加载和卸载部分显示了在自选慢速下的顺时针循环（磁滞），当速度增加到自选正常速度时，该环基本上减少为零。超过自选的正常速度，回路开始沿逆时针路径移动，该路径的面积随速度增加而增加。这些特征意味着，可以用旋转弹簧和减震器有效地代替人的踝关节，以实现慢至正常的步行速度。但是，为了模仿快速行走过程中人脚踝的特征，将需要增强系统。相对的脚跟接触时脚踝力量的迹象支持了这一观点，该迹象对慢速为负，在正常速度下为零，对于快走速度为正。 （C）2004 Elsevier Ltd.保留所有权利。

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