不同上楼速度下的垂直地面反力

兰箭; 朴贤浚; 付成龙; 陈恳

doi:10.16511/j.cnki.qhdxxb.2019.26.005

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清华大学学报（自然科学版） ›› 2019, Vol. 59 ›› Issue (6) : 453-460. DOI: 10.16511/j.cnki.qhdxxb.2019.26.005

机械工程

不同上楼速度下的垂直地面反力

兰箭¹, 朴贤浚¹, 付成龙², 陈恳¹

作者信息 +

Vertical ground reaction forces at various speeds during stair climbing

LAN Jian¹, Hyunjun Park¹, FU Chenglong², CHEN Ken¹

Author information +

文章历史 +

摘要

上楼垂直地面反力决定着人体质心在垂直方向上的运动，与垂直方向上的平均行走速度、初速有密切的联系。该文建立了上楼行走垂直方向模型，提出了连续周期行走约束，给出了垂直地面反力表达式，研究了其最大值的影响因素，建立了垂直方向初速与垂直地面反力参数、水平方向平均速度之间的数学关系，并对不同上楼速度下的垂直地面反力最大值变化情况进行了预测。用光学运动捕捉系统和六维力台进行了不同速度下的上楼行走测试，测试结果表明：预测结论较准确，上楼低速行走时更加接近水平行走，为使垂直地面反力最大值变化较小，随着行走速度的增加，垂直方向初速增加。

Abstract

The vertical ground reaction force determines the movement of the center of mass of the human body in the vertical direction during stair climbing. The vertical reaction force is closely related to the average vertical speed and the initial vertical speed. This paper presents a human stair climbing model that is used to derive the constraint for continuous climbing from the key factors influencing the maximum vertical force. The model gives mathematical expressions for the initial vertical speed, vertical force and the average horizontal speed. The model gives the change in the maximum vertical ground reaction force for various stair climbing speeds. Stair climbing tests were performed at various speeds using a motion analysis system and force platform. The tests verify the model accuracy with the results showing that the motion characteristics at low stair climbing speeds are closer to those of level walking than at high speeds and the initial vertical speed increases with increasing average horizontal speed to reduce the maximum vertical ground reaction force.

导出引用

兰箭, 朴贤浚, 付成龙, 陈恳. 不同上楼速度下的垂直地面反力[J]. 清华大学学报（自然科学版）. 2019, 59(6): 453-460 https://doi.org/10.16511/j.cnki.qhdxxb.2019.26.005

LAN Jian, Hyunjun Park, FU Chenglong, CHEN Ken. Vertical ground reaction forces at various speeds during stair climbing[J]. Journal of Tsinghua University(Science and Technology). 2019, 59(6): 453-460 https://doi.org/10.16511/j.cnki.qhdxxb.2019.26.005

参考文献

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基金

国家自然科学基金资助项目（U1613206）

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收稿日期	出版日期
2018-11-05	2019-06-15
发布日期
2019-06-01

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