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双语推荐:地面反作用力

对两足溜冰机器人的地面反作用力进行了分析与计算,提出了应用凸优化方法进行地面反作用力的建模方法。在合理假设的基础上,将地面反作用力建模问题转换为在一定约束条件下使碰撞后的溜冰机器人动能达到最小的问题,并转化为凸优化的标准形式。应用凸优化程序CVX进行了地面反作用力的计算与仿真,结果证明了该方法的有效性。
The ground reaction force for a biped skating robot was calculated and analyzed,and a modeling method for the ground reaction force by using convex optimization was proposed. On the basis of reasonable assumption,the modeling of ground reaction force was transformed as a minimization problem of robot kinetic energy after collision under condition with certain constrains,and as a stand-ard convex optimization form. By using CVX software of convex optimization to calculate and simulate the ground reaction force,the re-sults prove the effectiveness of the method.

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目的:揭示人造草坪不同颗粒填充密度对足球运动员侧切和起动动作表现的影响,并通过动作过程的生物力学数据分析可能的损伤危险。方法:13名男子足球运动员分别在3种不同颗粒密度的人造草坪上进行45°侧切和直线起动动作,采集运动学和动力学数据。结果:随着颗粒密度的增加,鞋与草坪交互面牵引力增大;侧切制动阶段地面反作用力峰值和加载率增大,地面反作用力首次峰值时刻的垂直、前、后分力增大,膝伸力矩增大,内收力矩和外展角度减小;蹬伸阶段地面反作用力分量增大;直线起动的重心加速度无显著差异。结论:鞋与人造草坪交互面的牵引力随填充颗粒的密度增加而增加;在常速助跑情况下,较大的交互面牵引力可以为侧切提供良好的制动能力和蹬伸推进力,但不会对直线起动的运动表现造成影响;交互面牵引力的增大会引起侧切制动阶段地面反作用力相关指标的增大,造成地面反作用力峰值时刻 ACL损伤敏感指标的改变,导致更大的损伤风险。
Objective :To reveal the influence of rubber particles density in soccer artificial turf on performance of cutting and accelerated starting movement ,to analyze the possible risk of in‐jure through biomechanical data .Methods :13 male soccer players participated in the study , three different particle densities in artificial turf were used ,collecting the data of kinematic and kinetic during cutting and accelerated starting movement .Results :With the increase in particle density ,the traction of shoe‐turf interaction increased .During the braking phase at cutting movement ,the peak ground reaction force and loading rate increased .And at the moment of the first peak GRF ,the GRF components in vertical and posterior directions and knee extention moment increased ,on the contrary ,knee adduction moment and knee abduction angle decreased in terms of the increase of filling density .During the stretching phase in cutting movement ,the GRF components increased .There is no sign

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本研究主要运用运动生物力学研究方法,采用三维摄影与三维测力台同步测量手段,获得标枪运动员投掷标枪最后用力阶段人体的运动学和前后脚地面支撑反作用力的动力学指标,并对其进行生物力学分析。
This study applied biomechanics research methods, used three-dimensional photography and three-dimensional force platform synchronized measurement way to obtain the kinetics indicators of body kinematics and ground reaction force of front and rear legs in the final stage of throwing javelin and made biomechanical analysis.

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为揭示不同高度脚背正面射门的生物力学机制。招募12名受试者对地面球、1/2膝关节高、膝关节高3种位置进行脚背正面射门和空踢各10次。利用2台JVC9800摄像机、国产JP6060多维测力平台进行运动学及动力学同步测量。结果显示:地面球、1/2膝关节及全膝关节3种高度射门,球速、足速经多因素方差分析均有显著差异,其中地面球球速最快、1/2膝关节高度次之、膝关节高最小;实验组受试者摆动腿大腿前摆与后摆、小腿后摆等各运动学指标在不同高度位置射门间无显著性差异,而小腿前摆运动学数据在不同高度射门间存在显著性差异;支撑腿与球垂直距离跟各高度射门的球速、摆动腿足速度、触球即刻膝角、小腿前摆角速度、小腿前摆幅度、小腿前摆时间呈显著相关,而3种高度位置的射门球速与支撑腿着地所受地面反作用力不存在线性关系。结果说明:脚背正面射门击球点高度越低球速越快,故脚背正面射门想要获取更快球速就应该在球高度处于较低位置时将球踢出;通过控制支撑腿与球垂直距离可以控制脚背正面射门的球速、球路、动作时间;支撑腿受到的地面反作用力与踢出球的球速无关,故支撑腿在踢球过程中的主要作用是固定支撑、维持平衡,从而使摆动腿发力更加充分。
In order to reveal the biomechanical mechanism of goal shooting with instep front at different heights, the authors recruited 12 testees to carry out goal shooting with instep front at ground height, 1/2 knee height and knee height, with and without the ball respectively for 10 times, carried out synchronized kinetic and dynamic measure-ment by using two JVC9800 cameras and a domestic JP6060 multidimensional force measurement platform, and revealed the following findings: multi-factor variance analysis showed that the ball speed and foot speed were sig-nificantly different during goal shooting at ground height, 1/2 knee height and knee height, the speed of the ball shot at ground height was the fastest, followed by the speed of the ball shot at 1/2 knee height, tailed by the speed of the ball shot at knee height; various kinetic indexes of the testees in the experiment group, such as forward and back-ward swinging of the thigh, backward swinging of the shank, had no significa

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针对小型仿人机器人足部异常着地姿态对步行稳定性的重要影响,提出了一种基于力分布的快速着地柔顺控制方法,使机器人能够根据着地时地面反作用力的分布情况,快速判断足部着地姿态,通过实时调节踝关节实现机器人的快速着地柔顺控制。该方法结合基于零力矩点(Zero Moment Point,ZMP)和身体姿态的平衡控制方法,在运动调节功能的协调下,形成了一个较为完备的小型仿人机器人实时稳定控制体系。
In order to match the walking stability requirement when foot is landing abnormally, a compliance control method based on the distribution of landing stress is put forward. According to the fast judgment of abnormal landing posture,the small humanoid robot can adjust the ankle to achieve better stability;the balance control methods are used based on the ZMP and attitude to guarantee the walking stability by adjusting the ankle and hip of the robot;the rela-tionship among the dynamic gait,stability control and motion restriction can be coordinated by motion adjustment. By combining these three control methods,a real-time stability control system of small humanoid robot are obtained.

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确定损伤风险因素是有效预防非接触性前交叉韧带损伤的关键。目的:建立前交叉韧带损伤随机生物力学模型,确定与损伤率有因果关系的风险因素。方法:在前交叉韧带负荷的生物力学模型基础上建立前交叉韧带损伤的随机生物力学模型,采用蒙特卡洛模拟方法预测急停起跳落地动作时前交叉韧带损伤概率,并判断影响损伤概率的风险因素。随机模型所需要的各独立变量的分布来自于19名男性和18名女性运动员的实测数据。结果:女性损伤概率是男性的4.91±0.25倍。模拟的损伤组比非损伤组的膝屈角更小、向后地面反力峰值更大。结论:模型预测的男、女损伤概率比、损伤膝角均与文献研究结果一致,证明了模型预测前交叉韧带负荷的有效性。着地瞬间的向后地面反作用力第一峰值和膝关节屈角是ACL损伤的风险因素。
It is important to understand the biomechanical risk factors of the non‐contact ACL injury to develop effective prevention programs .The purpose of this study was to validate a stochastic biomechanical model for non‐contact ACL injuries ,which can determine the cause‐and‐effect relationship and risk factors .Methods :A stochastic biomechanical model for non‐contact ACL injuries was developed and instrumented to a Monte Carlo simulation to estimate the ACL injury rate and risk factors during landing of the stop‐jump task .The distributions of independent variables were determined from vivo data of 19 male and 18 female athletes .Re‐sults :The female‐to‐male non‐contact ACL injury rate ratio was 4 .91 ± 0 .25 .In the simula‐ted injured trials ,there are smaller knee flexion angle ,greater posterior GRF ,and greater prox‐imal tibia anterior shear force in comparison to the simulated uninjured trials .Conclusion :The estimated female‐to‐male non‐contact ACL injury

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目的:对半蹲式并腿和分腿式2种着陆姿势足底动力学特征进行评估。方法健康男性伞兵受试者20例。使用一个Pedar足底压力系统。检测足底最大应力值(地面反作用力)、足底最大压力值、足底最大压力时间积分值。足底根据解剖特点划分为10个区域。受试者从高60 cm台上跳下,分别以半蹲式并腿和分腿式姿势着地,记录足底动力学指标值,并进行分析、比较。结果2种姿势之间比较足底最大应力值、最大压力值差异无统计学意义,而足底最大压力时间积分值在右足底有明显差异;同一种姿势着地左、右足底动力学指标值差异无统计学意义。但在左、右足不同时着地的概率方面分腿式着地明显高于半蹲式并腿着地。结论半蹲式并腿着陆姿势更适合军事跳伞等职业运动。
Objective We intended to evaluate the effectiveness of landing in either the half-squat-type position, common in military occupational specialties including parachute jumping, or the straddle-type position, common in athletic sports such as gymnastics.In landing from jumps at a height, asynchronous landing on either the right or left foot may increase impact forces, potentially resulting in injury. Methods In order to provide a kinematic assessment of the most effective landing position, a group of 20 health male subjects with current Chinese Army PLA paratrooper training were enrolled. Using a Pedar + Pliance (a brand, containing system pressure receptors) in-shoe pressure monitoring system individually fitted for each subject by in-sole size, the ground reaction forces (GRFs), landing pressures (LPs), and pressure time intervals (PTIs) affecting 10 distinct regions of the foot upon jumping from a height of 60 cm and landing in either the half-squat-type or straddle-type lan
目的:通过比较早期内侧间室膝骨性关节炎患者在佩戴传统与新型外侧楔形角矫形鞋垫(L W )后步行过程中所产生的下肢生物力学变化及差异,探讨新型设计的LW在早期内侧间室骨关节炎康复治疗中的应用价值。方法:采用英国Vicon三维步态分析系统配合Kislter测力台分别测评30例早期内侧间室型膝骨性关节炎患者在佩戴传统LW (楔形角5°)、新型带足弓支撑的LW (楔形角5°)及无佩戴任何矫形器(测试过程中均穿标准鞋)3种不同条件下的下肢关节运动学、动力学及时间空间参数变化。结果:相较于未佩戴任何矫形鞋垫情况,佩戴2种LW后膝关节载荷(膝关节内翻力矩,膝关节内翻角冲量)均显著降低(P<0.05)。此外,佩戴传统的LW后患者步行过程中踝关节外翻角度、外翻力矩及地面反作用力内侧方向较其他2种方式明显增加(P<0.05),而佩戴新型LW后下肢前进角度较其他2种方式显著增加(P<0.05)。结论:两种不同设计的LW均有助于缓解早期内侧间室型膝骨性关节炎患者运动过程中的膝关节载荷,且未见明显差异。但相较于传统外侧楔形矫形鞋垫,带有足弓支撑设计的矫形鞋垫佩戴后更为舒适,且不会引起踝关节内侧应力的增加。
Objective:To investigate the biomechanics changes at lower limb joints of patients with early stage me‐dial compartment knee osteoarthritis (OA) wearing different types of lateral wedges during walking ,and to define which type of lateral wedge is potentially more suitable in the treatment of the medial compartment knee OA .Meth‐od:Thirty patients with early stage medial compartment knee OA were enrolled .Both kinematics and temporal pa‐rameters were examined by Vicon 612 3‐Dimensional gait analysis system and the kinetics changes were tested by two Kislter force platforms at the same time under three conditions :a custom‐made traditional lateral wedge of 5° (with standard shoes) ,a custom‐made arch supported lateral wedges of 5° (with standard shoes) ,control condition (standard shoes only ) .Results:Both two types of lateral wedges showed significantly decreased knee joints loading (knee adduction moment and knee adduction angular impulse) (P<0 .05) .The decreased l

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目的:运用生物力学原理,通过对太极拳"野马分鬃"下肢的正确动作与错误动作的分析,了解其膝关节的运动学、关节负荷及肌肉活动的特征,并对可能造成太极拳膝关节损伤的原因进行探讨,为太极拳健身及如何有效预防练习过程中的膝关节损伤提供理论参考。方法:受试者为武英级女性一名,习武41年。动作选择为"野马分鬃"的正确动作与错误动作。采用Vicon运动捕捉系统、Kistler三维测力台和Delsys表面肌电采集系统分别对正确和错误动作的膝关节运动学、地面反作用力和股四头肌(股内肌、股外肌)及股后肌群(半腱肌和股二头肌)的肌电图(均方根振幅)进行同步测量,并采用SPSS 15统计软件,对不同动作的关节角度、关节力矩和肌肉活动等生物力学指标进行独立样本t检验。结果与结论:"野马分鬃"的错误动作各阶段用时、动作周期总用时显著高于正确动作,且错误动作右膝具有更大幅度的外展与外旋;"野马分鬃"动作的整个过程中,右膝关节处的伸肌力矩起主要作用,同时错误动作的膝外展和外旋力矩更大;错误动作在转脚时右腿股内肌、股外肌的活动显著更大,在一定程度上提示,错误的太极动作会对右膝产生更大的负荷,而长期这样训练很可能会造成运动员膝关节的损伤。
Objective :The aim of this study was to compare the biomechanical characteristics of lower extremity in conducting the “part the wild horse’s mane on both side” of Tai Chi ma-neuver in a correct and a wrong form .In order to find the possible cause of the knee injure of Tai Chi and prevent such kind of injure effectively ,the kinematics ,joint loading ,and muscle ac-tivity of the knee joint was therefore explored .Methods :the subject was a top -level female athlete (41 years of practicing Tai Chi ) .The test movement was a Tai Chi maneuver called“part the wild horse’s mane on both side” (in a correct and a wrong form ) .A Vicon system , two Kistler forceplates ,and a Delsys surface EMG system were synchronously used to collect the kinematics ,ground reaction forces ,and EMG activity from the quadriceps and the ham-string muscles of the knee joint .Paired T -test was applied to compare the differences (joint angle ,joint torque ,and muscle activity ) between the two for

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