Biomechanical Analysis in the Sagittal Plane at Different Walking Speeds during Stair Climbing

Lan，Jian1; Zhang，Jiwen1; Park，Hyunjun1; Fu，Chenglong2; Chen，Ken1

10.1109/ARSO46408.2019.8948774

2019-10-01

2162-7568

2162-7576

978-1-7281-3177-1

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

2019-October

57-60

31 Oct.-2 Nov. 2019

5F, Building 6, Science Park, 5 Zhongguancun South Street, Haidian, Beijing, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE Computer Society

Walking speed is an important parameter affecting the biomechanical characteristics of lower extremity joints during stair climbing. This study provides the investigations of sagittal plane biomechanics analysis of lower extremity joint for three specified walking speeds. Eight normal subjects participated. The three specified speeds were 0.35m/s, 0.5m/s and 0.65m/s. The result of this study showed that there were obvious differences in joint angle, moment and power with the change of walking speed. These differences indicated the changes of motion of the center of mass and joint energy distribution when the walking speed changed. With the increase of walking speed, the trajectory of the center of mass changed from first falling slightly then rising and finally falling to always rising during a step, and was getting closer and closer to a straight line. The proportion of energy produced by hip and ankle joint increased and the proportion of energy produced by knee joint decreased when the walking speed increased. The conclusion of this paper will contribute to the research of human movement science or the movement control of humanoid robot.

其他

英语

EI ; CPCI-S

[2018YFB1305400] ; Massachusetts Institute of Technology[] ; National Natural Science Foundation of China[U1613206] ; Guangdong Innovative and Entrepreneurial Research Team Program[2016ZT06G587]

Computer Science ; Robotics

Computer Science, Artificial Intelligence ; Robotics

WOS:000528858900011

20200508093322

Anthropomorphic robots ; Biomechanics ; Joints (anatomy) ; Robotics ; Speed ; Stairs

Buildings and Towers:402 ; Biomechanics, Bionics and Biomimetics:461.3 ; Robotics:731.5 ; Social Sciences:971

2-s2.0-85078334109

Scopus

1.Tsinghua University,Department of Mechanical Engineering,Beijing, CO,100084,China
2.Southern University of Science and Technology,Department of Mechanical and Energy Engineering,Shenzhen,518055,China

Lan，Jian,Zhang，Jiwen,Park，Hyunjun,et al. Biomechanical Analysis in the Sagittal Plane at Different Walking Speeds during Stair Climbing[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE Computer Society,2019:57-60.