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Locomotor pattern and mechanical exchanges during collective load transport

机译：集体负荷运输过程中的运动模式和机械交换

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While the locomotor behavior of humans walking alone, loaded or unloaded, has been extensively studied, the locomotor behavior of humans transporting a load collectively is very poorly documented in the biomechanics literature. Yet, collective carriage is a task commonly performed in sport (CrossFit), military and health care (carriage of an injured person) activities and is a task that raises growing interest in robotics (Cobots). The primary aim of our research was to test the hypothesis that the mechanical cost of locomotion is comparable when two individuals are transporting an object collectively and when they are walking alone. To test this, the movements of ten pairs of individuals walking side by side, separately or while transporting collectively an object, were recorded with a three-dimensional motion analysis system (Vicon(C)). Our results show a similar pattern in the periodic displacement of the center of mass and in mechanical costs, between individuals walking alone and individuals carrying a load collectively. Moreover, a better pendulum-like behavior was found in the sagittal plane and in 3D for the pairs of individuals carrying an object, which suggests that the saving in mechanical exchanges is higher when two individuals are carrying an object collectively than when they are walking alone. The values of the parameters measured in our experiment could be used as a benchmark for the implementation of collective carriage tasks in robotics.
机译：虽然人类独自行走，装卸的运动行为已经过度研究，但人类在生物力学文献中共同运输负荷的人类的运动行为非常匮乏。然而，集体运输是一项常见于运动（CrossFIT），军事和医疗保健（受伤人员的运输）活动的任务，是一项提高对机器人学兴趣的任务（Cobots）。我们的研究的主要目的是测试当两个人共同运送物体时，当两个人互动时，运动的机器的机械成本是可比的假设。为了测试这一点，通过三维运动分析系统（VICON（C））记录了十对单独的单独或同时运输物体的十对个体的运动。我们的结果表明，在肿块中心和机械成本的周期性位移中显示了类似的模式，单独行走的个体和携带负荷的个人之间。此外，在矢状平面和携带物体的一对的单个个体中发现了更好的摆动样行为，这表明当两个人携带一个物体而不是单独行走时，机械交换的节省更高。在我们的实验中测量的参数的值可用作机器人中集体运输任务的基准。

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