Background:Combined knee valgus and tibial internal rotation(VL+IR)moments have been shown to stress the anterior cruciate ligament(ACL)in several in vitro cadaveric studies.To utilize this knowledge for non-contact A...Background:Combined knee valgus and tibial internal rotation(VL+IR)moments have been shown to stress the anterior cruciate ligament(ACL)in several in vitro cadaveric studies.To utilize this knowledge for non-contact ACL injury prevention in sports,it is necessary to elucidate how the ground reaction force(GRF)acting point(center of pressure(CoP))in the stance foot produces combined knee VL+IR moments in risky maneuvers,such as cuttings.However,the effects of the GRF acting point on the development of the combined knee VL+IR moment in cutting are still unknown.Methods:We first established the deterministic mechanical condition that the CoP position relative to the tibial rotational axis differentiates the GRF vector’s directional probability for developing the combined knee VL+IR moment,and theoretically predicted that when the CoP is posterior to the tibial rotational axis,the GRF vector is more likely to produce the combined knee VL+IR moment than when the CoP is anterior to the tibial rotational axis.Then,we tested a stochastic aspect of our theory in a lab-controlled in vivo experiment.Fourteen females performed 60˚cutting under forefoot/rearfoot strike conditions(10 trials each).The positions of lower limb markers and GRF data were measured,and the knee moment due to GRF vector was calculated.The trials were divided into anterior-and posterior-CoP groups depending on the CoP position relative to the tibial rotational axis at each 10 ms interval from 0 to 100 ms after foot strike,and the occurrence rate of the combined knee VL+IR moment was compared between trial groups.Results:The posterior-CoP group showed significantly higher occurrence rates of the combined knee VL+IR moment(maximum of 82.8%)at every time point than those of the anterior-CoP trials,as theoretically predicted by the deterministic mechanical condition.Conclusion:The rearfoot strikes inducing the posterior CoP should be avoided to reduce the risk of non-contact ACL injury associated with the combined knee VL+IR stress.展开更多
Backgound:Barefoot(BF) running has recently increased in popularity with claims that it is more natural and may result in fewer injuries due to a reduction in impact loading.However,novice BF runners do not necessaril...Backgound:Barefoot(BF) running has recently increased in popularity with claims that it is more natural and may result in fewer injuries due to a reduction in impact loading.However,novice BF runners do not necessarily immediately switch to a forefoot strike pattern.This may increase mechanical parameters such as loading rate,which has heen associated with certain running-related injuries,specifically,tibial stress fractures.patellofemoral pain,and plantar iasciitis.The purpose of this study was to examine changes in loading parameters between typical shod running and instructed BF running with real-time force feedback.Methods:Forty-nine patients seeking treatment for a lower extremity injury ran on a force-sensing treadmill in their typical shod condition and then BF at the same speed.While BF they received verbal instruction and real-time feedback of vertical ground reaction forces.Results:While 92%of subjects(n = 45) demonstrated a rearfoot strike pattern when shod,only 2%(n = 1) did during the instructed BF run.Additionally,while BF 47%(n = 23) eliminated the vertical impact transient in all eight steps analyzed.All loading variables of interest were significantly reduced from the shod to instructed BF condition.These included maximum instantaneous and average vertical loading rates of the ground reaction force(p 【 0.0001),stiffness during initial loading(p 【 0.0001).and peak medial(p = 0.001) and lateral(p 【 0.0001) ground reaction forces and impulses in the vertical(p 【 0.0001).medial(p = 0.047),and lateral(p 【 0.0001) directions.Conclusion:As impact loading has been associated with certain running-related injuries,instruction and feedback on the proper forefoot strike pattern may help reduce the injury risk associated with transitioning to BF running.展开更多
In the present paper, the ground reaction force （GRF） acting on foot in slow squat was determined through a force measuring system, and at the same time, the kinematic data of human squat were obtained by analyzing ...In the present paper, the ground reaction force （GRF） acting on foot in slow squat was determined through a force measuring system, and at the same time, the kinematic data of human squat were obtained by analyzing the photographed image sequences. According to the height and body weight, six healthy volunteers were selected, three men in one group and the other three women in another group, and the fundamental parameters of subjects were recorded, including body weight, height and age, etc. Based on the anatomy characteristics, some markers were placed on the right side of joints. While the subject squatted at slow speed on the force platform, the ground reaction forces on the forefoot and heel for each foot were obtained through calibrated force platform. The analysis results show that the reaction force on heel is greater than that on forefoot, and double feet have nearly constant force. Moreover, from processing and analyzing the synchronously photographed image sequences in squat, the kinematic data of human squat were acquired, including mainly the curves of angle, angular velocity and angular acceleration varied with time for knee, hip and ankle joints in a sagittal plane. The obtained results can offer instructive reference for photographing and analyzing the movements of human bodies, diagnosing some diseases, and establishing in the future appropriate mathematical models for the human motion.展开更多
AIM To analyse ground reaction forces at higher speeds using another method to be more sensitive in assessing significant gait abnormalities. METHODS A total of 44 subjects, consisting of 24 knee osteoarthritis(OA) pa...AIM To analyse ground reaction forces at higher speeds using another method to be more sensitive in assessing significant gait abnormalities. METHODS A total of 44 subjects, consisting of 24 knee osteoarthritis(OA) patients and 20 healthy controls were analysed. The knee OA patients were recruited from an orthopaedic clinic that were awaiting knee replacement. All subjects had their gait patterns during stance phase at top walking speed assessed on a validated treadmill instrumented with tandem force plates. Temporal measurements and ground reaction forces(GRFs) along with a novel impulse technique were collected for both limbs and a symmetry ratio was applied to all variables to assess inter-limb asymmetry. All continuous variables for each group were compared using a student t-test and χ2 analysis for categorical variables with significance set at α = 0.05. Receiver operator characteristics curves were utilised to determine best discriminating ability.RESULTS The knee OA patients were older(66 ± 7 years vs 53 ± 9 years, P = 0.01) and heavier(body mass index: 31 ± 6 vs 23 ± 7, P < 0.001) but had a similar gender ratio when compared to the control group. Knee OA patients were predictably slower at top walking speed(1.37 ± 0.23 m/s vs 2.00 ± 0.20 m/s, P < 0.0001) with shorter mean step length(79 ± 12 cm vs 99 ± 8 cm, P < 0.0001) and broader gait width(14 ± 5 cm vs 11 ± 3 cm, P = 0.015) than controls without any known lower-limb joint disease. At a matched mean speed(1.37 ± 0.23 vs 1.34 ± 0.07), ground reaction results revealed that pushoff forces and impulse were significantly(P < 0.0001) worse(18% and 12% respectively) for the knee OA patients when compared to the controls. Receiver operating characteristic curves analysis demonstrated total impulse to be the best discriminator of asymmetry, with an area under the curve of 0.902, with a cut-off of-3% and a specificity of 95% and sensitivity of 88%.CONCLUSION Abnormal GRFs in knee osteoarthritis are clearly evident at higher speeds. Analysing GRFs with another method may explain the general decline in knee OA patient's gait.展开更多
The development of a theoretical model to predict the four equilibrium forces of reaction on a simple ladder of non-adjustable length leaning against a wall has long remained an unresolved matter. The difficulty is th...The development of a theoretical model to predict the four equilibrium forces of reaction on a simple ladder of non-adjustable length leaning against a wall has long remained an unresolved matter. The difficulty is that the problem is statically indeterminate and therefore requires complementary information to obtain a unique solution. This paper reports 1) a comprehensive theoretical analysis of the three fundamental models based on treating the ladder as a single Euler-Bernoulli beam, and 2) a detailed experimental investigation of the forces of reaction as a function of applied load and location of load. In contrast to previous untested proposals that the solution to the ladder problem lay in the axial constraint on compression or the transverse constraint on flexure, the experimental outcome of the present work showed unambiguously that 1) the ladder could be modeled the best by a pinned support at the base (on the ground) and a roller support at the top (at the wall), and 2) the only complementary relation needed to resolve the static indeterminacy is the force of friction at the wall. Measurements were also made on the impact loading of a ladder by rapid ascent and descent of a climber. The results obtained were consistent with a simple dynamical model of the ladder as a linear elastic medium subject to a pulse perturbation. The solution to the ladder problem herein presented provides a basis for theoretical extension to other types of ladders. Of particular importance, given that accidents involving ladders in the workplace comprise a significant fraction of all industrial accidents, the theoretical relations reported here can help determine whether a collapsed structure, against which a ladder was applied, met regulatory safety limits or not.展开更多
A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle...A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.展开更多
For large air bubbles rising steadily through still water, the upward reaction force on the spherical cap is calculated. When added to the buoyancy force on the roughly flat base of the bubble, the friction force at t...For large air bubbles rising steadily through still water, the upward reaction force on the spherical cap is calculated. When added to the buoyancy force on the roughly flat base of the bubble, the friction force at terminal velocity must be larger than it would be in the absence of the reaction force. Experimental data are used to estimate that the increase in the drag coefficient is expected to be about 4%.展开更多
Steady flow past a circular arc wing produces a vertical lift force, which has been calculated before, but it also causes two horizontal reaction forces, equal and opposite, due to Newton’s third law: the accelerated...Steady flow past a circular arc wing produces a vertical lift force, which has been calculated before, but it also causes two horizontal reaction forces, equal and opposite, due to Newton’s third law: the accelerated and decelerated flows act back on the top surfaces of the wing. Reaction forces are computed here and compared with the lift force. The magnitude of the two perpendicular forces are equal when the ratio of the maximum thickness of the wing is about 1/5 the length of the wing’s flat bottom surface. An example of an asymmetric wing is discussed and the net reaction force is calculated, which is always directed horizontally away from the top surface of the wing that has the greater mean slope. Based on these results,it is predicted that a surface ship should go more easily through the water if the bow were blunt and the stern pointed, just the opposite configuration of what is commonly found traversing lakes and oceans. Surface gravity waves are argued not to change this conclusion in general.展开更多
Classification of normal gait from pathological gait as then can be used as indicator of falling among subjects requires the correct choice of sensor location in the insole. Such a flexi force- sensor can be used unde...Classification of normal gait from pathological gait as then can be used as indicator of falling among subjects requires the correct choice of sensor location in the insole. Such a flexi force- sensor can be used underneath foot to measure vertical ground reaction force. To start with, the most relevant information (parameters) that can characterize the recorded signals are extracted from the vertical ground reaction force signals. Then Receiver Operating Characteristic curve is used to evaluate the features upon 8 sensors underneath each foot located at different locations. To confirm results obtained, features are passed upon a chosen classifier, in this paper K-nearest neighbors algorithm is chosen. Results show that the sensor located at the inner arch of the sole of the foot (i.e. at the mid foot) holds the most relevant information needed for better classification compared to other sensors.展开更多
The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morpholog...The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.展开更多
In this paper, the growth rate, ponderomotive force and the exciting condition for parametric instability are derived by considering the loss reaction using a new method. On the basis of the hydrodynamic equations, we...In this paper, the growth rate, ponderomotive force and the exciting condition for parametric instability are derived by considering the loss reaction using a new method. On the basis of the hydrodynamic equations, we take the production and loss reactions in plasma into account to derive the coupling equations for the electron plasma oscillation and ion acoustic oscillation, and obtain the growth rate for the parametric instability, the ponderomotive force and the exciting condition. The result shows that （a） the production reaction has no effect on the parametric instability, and the effect of loss reaction on the parametric instability is a damping one, （b） the more intensive the external field or pump is, the larger the growth rate is, （c） there exist two modes of the ponderomotive force, i.e. the high frequency mode and the low frequency mode, and （d） when ponderomotive force counteracts the damping force, the oscillations become non-damping and non-driving. The ratio of the electron plasma oscillation to ion acoustic oscillation is independent of the loss reaction and the external field.展开更多
A new approach to radiation reaction for the correction of the linear and circular motion of a charged particle takes into account the emission of electromagnetic radiation due to its acceleration. This new formulatio...A new approach to radiation reaction for the correction of the linear and circular motion of a charged particle takes into account the emission of electromagnetic radiation due to its acceleration. This new formulation was based on expressing the radiation reaction force in terms of the external force rather than the acceleration of the charge. In this paper, a generalization of the radiation reaction force in terms of the external force approach is formulated for any arbitrary motion of the charged particle. This generalization includes the linear and circular acceleration cases previously investigated.展开更多
By combining results of transient response tests with forced concentration oscillation experi-ments,behaviors of benzene oxidation over V<sub>2</sub>O<sub>5</sub> catalysts has been determined....By combining results of transient response tests with forced concentration oscillation experi-ments,behaviors of benzene oxidation over V<sub>2</sub>O<sub>5</sub> catalysts has been determined.Product increse canbe observed during periodic operation.The mechanism of catalytic reaction can be elucidated andthe behavior of concentration oscillation during the reaction is determined.The relation betweencycling frequency and response characteristics has also been studied with two different types of peri-odic operation,i.e.,regular and irregular square waves.展开更多
Using the software Anybody Modeling System, a human static-standing musculoskeletal model based on inverse dynamics is presented, which are defined as segments, muscles and joints as dements. Simulation is based on da...Using the software Anybody Modeling System, a human static-standing musculoskeletal model based on inverse dynamics is presented, which are defined as segments, muscles and joints as dements. Simulation is based on data obtained from experiments using motion capture system VICADN and force plate AMTI. In the model AnyBody Modeling System is introduced to help solve the redundancy problem and obtain results of muscle activities, muscle forces and joint forces. From the model, hip and knee joint forces could be analyzed under normal standing posture. Also, activities of the musculus rectus femoris and several other muscles of the lower limbs can be obtained. From the results it could be concluded that stresses at joints are much stronger than theoretical reasoning because of the functions of relevant soft tissues such as muscles, tendons and so on. Results show that joint forces from the simulations are in good conformation with previous experimental researches. And this complicated model would be of use for better understanding human body functions.展开更多
Background:An extraordinary long-term running performance may benefit from low dynamic loads and a high load-bearing tolerance.An extraordinary runner(age=55 years,height=1.81 m,mass=92 kg) scheduled a marathon a day ...Background:An extraordinary long-term running performance may benefit from low dynamic loads and a high load-bearing tolerance.An extraordinary runner(age=55 years,height=1.81 m,mass=92 kg) scheduled a marathon a day for 100 consecutive days.His running biomechanics and bone density were investigated to better understand successful long-term running in the master athlete.Methods:Overground running gait analysis and bone densitometry were conducted before the marathon-a-day challenge and near its completion.The case’s running biomechanics were compared pre-challenge to 31 runners who were matched by a similar foot strike pattern.Results:The case’s peak vertical loading rate(Δx=-61.9 body weight(BW)/s or-57%),peak vertical ground reaction force(Δx=-0.38 BW or-15%),and peak braking force(Δx=-0.118 BW or-31%) were remarkably lower(p<0.05) than the control group at~3.3 m/s.The relatively low loading-related magnitudes were attributed to a remarkably high duty factor(0.41) at the evaluated speed.The foot strike angle of the marathoner(29.5°) was greater than that of the control group,affecting the peak vertical loading rate.Muscle powers in the lower extremity were also remarkably low in the case vs.controls:peak power of knee absorption(Δx=-9.16 watt/kg or-48%) and ankle generation(Δx=-3.17 watt/kg or-30%).The bone mineral density increased to 1.245 g/cm;(+2.98%) near completion of the challenge,whereas the force characteristics showed no statistically significant change.Conclusion:The remarkable pattern of the high-mileage runner may be useful in developing or evaluating load-shifting strategies in distance running.展开更多
基金supported by the Grant-in-Aid for Young Scientists(B)Project(Grant No.24700716)funded by the Ministry of Education,Culture,Sports,Science and Technology,Japan.
文摘Background:Combined knee valgus and tibial internal rotation(VL+IR)moments have been shown to stress the anterior cruciate ligament(ACL)in several in vitro cadaveric studies.To utilize this knowledge for non-contact ACL injury prevention in sports,it is necessary to elucidate how the ground reaction force(GRF)acting point(center of pressure(CoP))in the stance foot produces combined knee VL+IR moments in risky maneuvers,such as cuttings.However,the effects of the GRF acting point on the development of the combined knee VL+IR moment in cutting are still unknown.Methods:We first established the deterministic mechanical condition that the CoP position relative to the tibial rotational axis differentiates the GRF vector’s directional probability for developing the combined knee VL+IR moment,and theoretically predicted that when the CoP is posterior to the tibial rotational axis,the GRF vector is more likely to produce the combined knee VL+IR moment than when the CoP is anterior to the tibial rotational axis.Then,we tested a stochastic aspect of our theory in a lab-controlled in vivo experiment.Fourteen females performed 60˚cutting under forefoot/rearfoot strike conditions(10 trials each).The positions of lower limb markers and GRF data were measured,and the knee moment due to GRF vector was calculated.The trials were divided into anterior-and posterior-CoP groups depending on the CoP position relative to the tibial rotational axis at each 10 ms interval from 0 to 100 ms after foot strike,and the occurrence rate of the combined knee VL+IR moment was compared between trial groups.Results:The posterior-CoP group showed significantly higher occurrence rates of the combined knee VL+IR moment(maximum of 82.8%)at every time point than those of the anterior-CoP trials,as theoretically predicted by the deterministic mechanical condition.Conclusion:The rearfoot strikes inducing the posterior CoP should be avoided to reduce the risk of non-contact ACL injury associated with the combined knee VL+IR stress.
文摘Backgound:Barefoot(BF) running has recently increased in popularity with claims that it is more natural and may result in fewer injuries due to a reduction in impact loading.However,novice BF runners do not necessarily immediately switch to a forefoot strike pattern.This may increase mechanical parameters such as loading rate,which has heen associated with certain running-related injuries,specifically,tibial stress fractures.patellofemoral pain,and plantar iasciitis.The purpose of this study was to examine changes in loading parameters between typical shod running and instructed BF running with real-time force feedback.Methods:Forty-nine patients seeking treatment for a lower extremity injury ran on a force-sensing treadmill in their typical shod condition and then BF at the same speed.While BF they received verbal instruction and real-time feedback of vertical ground reaction forces.Results:While 92%of subjects(n = 45) demonstrated a rearfoot strike pattern when shod,only 2%(n = 1) did during the instructed BF run.Additionally,while BF 47%(n = 23) eliminated the vertical impact transient in all eight steps analyzed.All loading variables of interest were significantly reduced from the shod to instructed BF condition.These included maximum instantaneous and average vertical loading rates of the ground reaction force(p 【 0.0001),stiffness during initial loading(p 【 0.0001).and peak medial(p = 0.001) and lateral(p 【 0.0001) ground reaction forces and impulses in the vertical(p 【 0.0001).medial(p = 0.047),and lateral(p 【 0.0001) directions.Conclusion:As impact loading has been associated with certain running-related injuries,instruction and feedback on the proper forefoot strike pattern may help reduce the injury risk associated with transitioning to BF running.
基金supported by the National Natural Science Foundation of China (10702048 and 11102126)Natural Science Foundation of Shanxi (2010021004-1)
文摘In the present paper, the ground reaction force （GRF） acting on foot in slow squat was determined through a force measuring system, and at the same time, the kinematic data of human squat were obtained by analyzing the photographed image sequences. According to the height and body weight, six healthy volunteers were selected, three men in one group and the other three women in another group, and the fundamental parameters of subjects were recorded, including body weight, height and age, etc. Based on the anatomy characteristics, some markers were placed on the right side of joints. While the subject squatted at slow speed on the force platform, the ground reaction forces on the forefoot and heel for each foot were obtained through calibrated force platform. The analysis results show that the reaction force on heel is greater than that on forefoot, and double feet have nearly constant force. Moreover, from processing and analyzing the synchronously photographed image sequences in squat, the kinematic data of human squat were acquired, including mainly the curves of angle, angular velocity and angular acceleration varied with time for knee, hip and ankle joints in a sagittal plane. The obtained results can offer instructive reference for photographing and analyzing the movements of human bodies, diagnosing some diseases, and establishing in the future appropriate mathematical models for the human motion.
文摘AIM To analyse ground reaction forces at higher speeds using another method to be more sensitive in assessing significant gait abnormalities. METHODS A total of 44 subjects, consisting of 24 knee osteoarthritis(OA) patients and 20 healthy controls were analysed. The knee OA patients were recruited from an orthopaedic clinic that were awaiting knee replacement. All subjects had their gait patterns during stance phase at top walking speed assessed on a validated treadmill instrumented with tandem force plates. Temporal measurements and ground reaction forces(GRFs) along with a novel impulse technique were collected for both limbs and a symmetry ratio was applied to all variables to assess inter-limb asymmetry. All continuous variables for each group were compared using a student t-test and χ2 analysis for categorical variables with significance set at α = 0.05. Receiver operator characteristics curves were utilised to determine best discriminating ability.RESULTS The knee OA patients were older(66 ± 7 years vs 53 ± 9 years, P = 0.01) and heavier(body mass index: 31 ± 6 vs 23 ± 7, P < 0.001) but had a similar gender ratio when compared to the control group. Knee OA patients were predictably slower at top walking speed(1.37 ± 0.23 m/s vs 2.00 ± 0.20 m/s, P < 0.0001) with shorter mean step length(79 ± 12 cm vs 99 ± 8 cm, P < 0.0001) and broader gait width(14 ± 5 cm vs 11 ± 3 cm, P = 0.015) than controls without any known lower-limb joint disease. At a matched mean speed(1.37 ± 0.23 vs 1.34 ± 0.07), ground reaction results revealed that pushoff forces and impulse were significantly(P < 0.0001) worse(18% and 12% respectively) for the knee OA patients when compared to the controls. Receiver operating characteristic curves analysis demonstrated total impulse to be the best discriminator of asymmetry, with an area under the curve of 0.902, with a cut-off of-3% and a specificity of 95% and sensitivity of 88%.CONCLUSION Abnormal GRFs in knee osteoarthritis are clearly evident at higher speeds. Analysing GRFs with another method may explain the general decline in knee OA patient's gait.
文摘The development of a theoretical model to predict the four equilibrium forces of reaction on a simple ladder of non-adjustable length leaning against a wall has long remained an unresolved matter. The difficulty is that the problem is statically indeterminate and therefore requires complementary information to obtain a unique solution. This paper reports 1) a comprehensive theoretical analysis of the three fundamental models based on treating the ladder as a single Euler-Bernoulli beam, and 2) a detailed experimental investigation of the forces of reaction as a function of applied load and location of load. In contrast to previous untested proposals that the solution to the ladder problem lay in the axial constraint on compression or the transverse constraint on flexure, the experimental outcome of the present work showed unambiguously that 1) the ladder could be modeled the best by a pinned support at the base (on the ground) and a roller support at the top (at the wall), and 2) the only complementary relation needed to resolve the static indeterminacy is the force of friction at the wall. Measurements were also made on the impact loading of a ladder by rapid ascent and descent of a climber. The results obtained were consistent with a simple dynamical model of the ladder as a linear elastic medium subject to a pulse perturbation. The solution to the ladder problem herein presented provides a basis for theoretical extension to other types of ladders. Of particular importance, given that accidents involving ladders in the workplace comprise a significant fraction of all industrial accidents, the theoretical relations reported here can help determine whether a collapsed structure, against which a ladder was applied, met regulatory safety limits or not.
文摘A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.
文摘For large air bubbles rising steadily through still water, the upward reaction force on the spherical cap is calculated. When added to the buoyancy force on the roughly flat base of the bubble, the friction force at terminal velocity must be larger than it would be in the absence of the reaction force. Experimental data are used to estimate that the increase in the drag coefficient is expected to be about 4%.
文摘Steady flow past a circular arc wing produces a vertical lift force, which has been calculated before, but it also causes two horizontal reaction forces, equal and opposite, due to Newton’s third law: the accelerated and decelerated flows act back on the top surfaces of the wing. Reaction forces are computed here and compared with the lift force. The magnitude of the two perpendicular forces are equal when the ratio of the maximum thickness of the wing is about 1/5 the length of the wing’s flat bottom surface. An example of an asymmetric wing is discussed and the net reaction force is calculated, which is always directed horizontally away from the top surface of the wing that has the greater mean slope. Based on these results,it is predicted that a surface ship should go more easily through the water if the bow were blunt and the stern pointed, just the opposite configuration of what is commonly found traversing lakes and oceans. Surface gravity waves are argued not to change this conclusion in general.
文摘Classification of normal gait from pathological gait as then can be used as indicator of falling among subjects requires the correct choice of sensor location in the insole. Such a flexi force- sensor can be used underneath foot to measure vertical ground reaction force. To start with, the most relevant information (parameters) that can characterize the recorded signals are extracted from the vertical ground reaction force signals. Then Receiver Operating Characteristic curve is used to evaluate the features upon 8 sensors underneath each foot located at different locations. To confirm results obtained, features are passed upon a chosen classifier, in this paper K-nearest neighbors algorithm is chosen. Results show that the sensor located at the inner arch of the sole of the foot (i.e. at the mid foot) holds the most relevant information needed for better classification compared to other sensors.
基金supported by the National High Technology Research and Development Program of China ("863" Program)(Grant No. 2007AA04Z201)National Natural Science Foundation of China (Grant Nos. 60535020,60910007,30770285,30700068)
文摘The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.
基金Project supported by the National Natural Science Foundation of China （Grant No 40310223）, and the Fund of the National Key Laboratory of Electromagnetic Environment （Grant No 9140C080401060C0805）.
文摘In this paper, the growth rate, ponderomotive force and the exciting condition for parametric instability are derived by considering the loss reaction using a new method. On the basis of the hydrodynamic equations, we take the production and loss reactions in plasma into account to derive the coupling equations for the electron plasma oscillation and ion acoustic oscillation, and obtain the growth rate for the parametric instability, the ponderomotive force and the exciting condition. The result shows that （a） the production reaction has no effect on the parametric instability, and the effect of loss reaction on the parametric instability is a damping one, （b） the more intensive the external field or pump is, the larger the growth rate is, （c） there exist two modes of the ponderomotive force, i.e. the high frequency mode and the low frequency mode, and （d） when ponderomotive force counteracts the damping force, the oscillations become non-damping and non-driving. The ratio of the electron plasma oscillation to ion acoustic oscillation is independent of the loss reaction and the external field.
文摘A new approach to radiation reaction for the correction of the linear and circular motion of a charged particle takes into account the emission of electromagnetic radiation due to its acceleration. This new formulation was based on expressing the radiation reaction force in terms of the external force rather than the acceleration of the charge. In this paper, a generalization of the radiation reaction force in terms of the external force approach is formulated for any arbitrary motion of the charged particle. This generalization includes the linear and circular acceleration cases previously investigated.
文摘By combining results of transient response tests with forced concentration oscillation experi-ments,behaviors of benzene oxidation over V<sub>2</sub>O<sub>5</sub> catalysts has been determined.Product increse canbe observed during periodic operation.The mechanism of catalytic reaction can be elucidated andthe behavior of concentration oscillation during the reaction is determined.The relation betweencycling frequency and response characteristics has also been studied with two different types of peri-odic operation,i.e.,regular and irregular square waves.
文摘Using the software Anybody Modeling System, a human static-standing musculoskeletal model based on inverse dynamics is presented, which are defined as segments, muscles and joints as dements. Simulation is based on data obtained from experiments using motion capture system VICADN and force plate AMTI. In the model AnyBody Modeling System is introduced to help solve the redundancy problem and obtain results of muscle activities, muscle forces and joint forces. From the model, hip and knee joint forces could be analyzed under normal standing posture. Also, activities of the musculus rectus femoris and several other muscles of the lower limbs can be obtained. From the results it could be concluded that stresses at joints are much stronger than theoretical reasoning because of the functions of relevant soft tissues such as muscles, tendons and so on. Results show that joint forces from the simulations are in good conformation with previous experimental researches. And this complicated model would be of use for better understanding human body functions.
基金funded by the Research Foundation-Flanders (FWO.3F0.2015.0048.01)the International Society of Biomechanics’ student grant program (Matching Dissertation Grant 2019)
文摘Background:An extraordinary long-term running performance may benefit from low dynamic loads and a high load-bearing tolerance.An extraordinary runner(age=55 years,height=1.81 m,mass=92 kg) scheduled a marathon a day for 100 consecutive days.His running biomechanics and bone density were investigated to better understand successful long-term running in the master athlete.Methods:Overground running gait analysis and bone densitometry were conducted before the marathon-a-day challenge and near its completion.The case’s running biomechanics were compared pre-challenge to 31 runners who were matched by a similar foot strike pattern.Results:The case’s peak vertical loading rate(Δx=-61.9 body weight(BW)/s or-57%),peak vertical ground reaction force(Δx=-0.38 BW or-15%),and peak braking force(Δx=-0.118 BW or-31%) were remarkably lower(p<0.05) than the control group at~3.3 m/s.The relatively low loading-related magnitudes were attributed to a remarkably high duty factor(0.41) at the evaluated speed.The foot strike angle of the marathoner(29.5°) was greater than that of the control group,affecting the peak vertical loading rate.Muscle powers in the lower extremity were also remarkably low in the case vs.controls:peak power of knee absorption(Δx=-9.16 watt/kg or-48%) and ankle generation(Δx=-3.17 watt/kg or-30%).The bone mineral density increased to 1.245 g/cm;(+2.98%) near completion of the challenge,whereas the force characteristics showed no statistically significant change.Conclusion:The remarkable pattern of the high-mileage runner may be useful in developing or evaluating load-shifting strategies in distance running.
