论文标题
弹簧的力量：被动元素足以推动人类行走
Power to the springs: Passive elements are sufficient to drive push-off in human walking
论文作者
论文摘要
对于在人行走的两个肌肉 - 刺孔 - 单位（MTU）中观察到的冲动脚踝推断（APO），跨越踝关节的肌肉刺痛（mTU）起着重要作用：胃gas（gas）和soleus（Soleus（Sol））。气体和溶胶将阿喀琉斯肌腱加载以在立场期间存储弹性能量，然后在APO期间快速释放能量。我们使用神经肌肉模拟（NMS）和两足机器人来研究气体和溶胶在APO上的作用。我们优化了稳健步态的模拟，然后通过线性弹簧顺序替换（1）气体，（2）SOL和（3）气体和SOL的MTU。为了验证模拟，我们在双足机器人上实现NMS-3。模拟和机器人步行稳定，用于所有试验，显示了冲动的APO。我们的结果表明，弹性MTU性质塑造了冲动的Apo。对于假体或机器人设计，如果在设计中纳入了更多的机械智能，则无需复杂的脚踝致动即可获得冲动的APO。
For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning the ankle joint play an important role: Gastrocnemius (GAS) and Soleus (SOL). GAS and SOL load the Achilles tendon to store elastic energy during stance followed by a rapid energy release during APO. We use a neuromuscular simulation (NMS) and a bipedal robot to investigate the role of GAS and SOL on the APO. We optimize the simulation for a robust gait and then sequentially replace the MTUs of (1) GAS, (2) SOL and (3) GAS and SOL by linear springs. To validate the simulation, we implement NMS-3 on a bipedal robot. Simulation and robot walk steady for all trials showing an impulsive APO. Our results imply that the elastic MTU properties shape the impulsive APO. For prosthesis or robot design that is, no complex ankle actuation is needed to obtain an impulsive APO, if more mechanical intelligence is incorporated in the design.
