上楼自然行走质心机械能分配与代谢消耗规律

兰箭; 张继文; 付成龙; 陈恳

doi:10.16511/j.cnki.qhdxxb.2020.26.017

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清华大学学报（自然科学版） ›› 2020, Vol. 60 ›› Issue (11) : 934-942. DOI: 10.16511/j.cnki.qhdxxb.2020.26.017

机械工程

上楼自然行走质心机械能分配与代谢消耗规律

兰箭¹, 张继文¹, 付成龙², 陈恳¹

作者信息 +

Distribution of the center of mass work and metabolism during stair climbing

LAN Jian¹, ZHANG Jiwen¹, FU Chenglong², CHEN Ken¹

Author information +

文章历史 +

摘要

上楼自然行走的质心机械能分配和代谢消耗对于深入研究上楼行走的机理具有重要的意义。该文建立了上楼行走模型，定义了反映质心机械能分配和代谢消耗的相关参数，建立了这些参数与垂直地面反力之间的数学关系，通过实验测试和讨论分析，得到质心机械能分配的规律为：在双腿支撑期和单腿支撑期内，单腿做功的平均功率均小于一步内的平均质心功率，双腿支撑期前腿和后腿做功比较均衡，前腿略大，能量分配的规律使垂直地面反力曲线形状变化小，并有利于单腿支撑期时保护膝关节。质心机械能代谢消耗的规律为：上楼自然行走比较节能，但并非最节能，表现为垂直地面反力曲线略凹，这种能耗方式可以避免踝关节提前跖曲和产生过大的跖曲角度。

Abstract

The distribution of the center of mass (CoM) work and the metabolism are of great significance for studies of the mechanism of climbing stairs. This paper presents a stair climbing model, defines key parameters reflecting the distribution of the CoM work and metabolism and presents the mathematical relationships between these parameters and the vertical ground reaction force (VGRF). Tests and analyses show that the average power in a single leg is less than the average CoM work rate in one step during the double support and single support phases. During the double support phase, the work rates by the leading and trailing legs are nearly balanced with slightly more work done by the leading leg. The CoM work distribution has little effect on the VGRF curve shape but protects the knee joint during the single support phase. Analysis of the metabolism during the CoM work shows that walking upstairs naturally saves energy, but is not the most energy efficient method. The slightly concave shape of the VGRF curve reduces the probability of early ankle joint plantarflexion and excessive plantarflexion.

导出引用

兰箭, 张继文, 付成龙, 陈恳. 上楼自然行走质心机械能分配与代谢消耗规律[J]. 清华大学学报（自然科学版）. 2020, 60(11): 934-942 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.017

LAN Jian, ZHANG Jiwen, FU Chenglong, CHEN Ken. Distribution of the center of mass work and metabolism during stair climbing[J]. Journal of Tsinghua University(Science and Technology). 2020, 60(11): 934-942 https://doi.org/10.16511/j.cnki.qhdxxb.2020.26.017

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基金

付成龙,副教授,E-mail:fucl@sustc.edu.cn

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收稿日期	出版日期
2019-11-07	2020-11-15
发布日期
2020-08-31

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