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首页> 外文期刊>Gait & posture >Best-compromise between mechanical energy expenditure and foot clearance predicts leading limb motion during obstacle-crossing
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Best-compromise between mechanical energy expenditure and foot clearance predicts leading limb motion during obstacle-crossing

机译：机械能量消耗和脚部间隙之间的最佳折中可预测障碍物穿越过程中的前肢运动

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摘要

This study aimed to identify the control strategy of obstacle-crossing of different heights with a multi-objective optimal control technique. Twelve young healthy adults walked and crossed obstacles of three different heights while their kinematic and ground reaction force data were measured simultaneously. Obstacle-crossing was formulated as an optimal control problem with two conflicting objectives: minimization of mechanical energy expenditure and maximization of foot-obstacle clearance. The results supported the hypothesis that experimentally measured ankle trajectories and joint angles of the swing limb and the joint moments of the stance limb could be predicted by the best compromise between these objectives, which was also independent of obstacle height. This control strategy was fundamentally different from that for unobstructed gait, and appeared to be pre-programmed into the nervous system. The results will serve as baseline data and the current technique be used for identifying changes in obstacle-crossing control strategies in people at higher risk of falling.
机译：本研究旨在通过多目标最优控制技术确定不同高度障碍物的控制策略。十二名年轻健康的成年人步行并越过三个不同高度的障碍物，同时测量了他们的运动学和地面反作用力数据。越障被认为是具有两个相互矛盾的目标的最优控制问题：机械能消耗的最小化和脚部障碍物的清除最大化。该结果支持以下假设：通过这些目标之间的最佳折衷，可以预测实验测量的踝关节的踝关节轨迹，摆肢的关节角度以及站立肢体的关节力矩，而这些目标也与障碍物高度无关。这种控制策略与步态通畅的控制策略根本不同，并且似乎已预先编程到神经系统中。结果将用作基线数据，当前的技术将用于识别高跌倒风险人群越障控制策略的变化。

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