被动屈膝能显著提升迈步过渡时的前向冲量，增强行走效率。
Passive knee flexion increases forward impulse of the trailing leg during the step-to-step transition
- 通过机器人模拟被动与主动屈膝，对比其对步态的影响。
- 被动屈膝使后腿水平动量增加87%，重心动量矢量增幅达188%。
- 研究结果有助于假肢、康复设备等仿人行走系统设计。
人类行走效率依赖于跟腱的弹性回弹，由‘弹射机制’实现：在支撑期储存能量，蹬地时释放。该机制可能包括膝关节的被动屈曲，因主要屈膝发生在前腿触地后的被动阶段。本研究首次利用双足仿人机器人EcoWalker-2（带被动踝关节）对比了被动与主动启动屈膝对步态的影响。借助机器人高精度测量，我们分析了步态事件时间节点对动量和动能变化的影响。EcoWalker-2在两种启动方式下均成功行走并保持足部离地。被动屈膝启动使踝关节跖屈起始时间延迟约占步态周期的3%，导致后腿水平动量增加87%，重心动量矢量增幅达188%。研究凸显了膝关节屈曲在弹射机制释放中的作用及步态时间节点的重要性，为类人行走机理提供了新见解，对康复、外骨骼和假肢研发具有应用价值。
原文摘要 · Abstract (English)
Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off. The catapult release mechanism could include the passive flexion of the knee, as the main part of knee flexion was reported to happen passively after leading leg touch-down. This study is the first to investigate the effects of passive versus active knee flexion initiation, using the bipedal EcoWalker-2 robot with passive ankles. By leveraging the precision of robotic measurements, we aimed to elucidate the importance of timing of gait events and its impact on momentum and kinetic energy changes of the robot. The EcoWalker-2 walked successfully with both initiation methods, maintaining toe clearance. Passive knee flexion initiation resulted in a 3% of the gait cycle later onset of ankle plantar flexion, leading to 87% larger increase in the trailing leg horizontal momentum, and 188% larger magnitude increase in the center of mass momentum vector during the step-to-step transition. Our findings highlight the role of knee flexion in the release of the catapult, and timing of gait events, providing insights into human-like walking mechanics and potential applications in rehabilitation, orthosis, and prosthesis development.
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