Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (4): 991-1002.
• • 上一篇
Effect of Dual-Tasks Walking on Human Gait Patterns
Xiyuan Zhang1,2,3, Ke Rong4, Guangming Chen1, Aihong Ji1, Yawei Song3
- 1 Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China 2 Olympic College, Communication University of China Nanjing, Nanjing 211162, China 3 Department of Sports Health Sciences, Nanjing Sport Institute, 8 Linggusi Road, Nanjing 210014, China 4 Centre of Scientifc Experiment, Nanjing Sport Institute, Nanjing 210014, China
Effect of Dual-Tasks Walking on Human Gait Patterns
Xiyuan Zhang1,2,3, Ke Rong4, Guangming Chen1, Aihong Ji1, Yawei Song3
- 1 Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China 2 Olympic College, Communication University of China Nanjing, Nanjing 211162, China 3 Department of Sports Health Sciences, Nanjing Sport Institute, 8 Linggusi Road, Nanjing 210014, China 4 Centre of Scientifc Experiment, Nanjing Sport Institute, Nanjing 210014, China
摘要： A human gait pattern conformed to the law of the inverted pendulum and could be described by the movement of its center of mass (COM). A sinusoidal function based on an inverted pendulum was used to plan the COM trajectory of humanoid robots for gait control. Therefore, studying the human dual-tasks gait pattern is essential for improving the gait adaptability of humanoid robots. Many well-known humanoid robot prototypes can complete stable walking, running, jumping, and other movements closely mimicking human beings. This study provides a theoretical reference for the gait planning and design of humanoid robots by comparing differences in the stride time, cadence, step length, step width, stride length, walking speed and COM movement during single- and dual-tasks walking. Results showed no significant difference in the time parameters. In dual-tasks walking, the walking speeds decreased (P=0.001) and the COM sidewise movement increased, indicating an enhancement in the automatic motion rhythm in cognitive tasks. Humans can easily select new different speeds to better adapt to the competition of attention resources. To enhance the adaptability of humanoid robots to the COM offset, the independent motion of the hip joint separated the trunk and lower limbs must be considered in the robot design.