CAJ | 학술논문

以人下坡行走过程中偶发的滑跌现象为研究对象，采用表面肌电分析法，探究人下坡失稳后的自主平衡恢复反应机理。选取10名健康男性在坡度为1︰10的坡道上进行湿滑介质油和干燥环境下的下坡行走试验，采用Vicon运动捕捉系统和表面肌电系统同步采集步态参数和下肢8块主要肌肉的肌电信号，得出步速和步态时间的显著性 p值分别为0．000、0．025（＜0.05），故受到滑移扰动后，步速显著增加，步态时间显著减小；左右两侧肌肉的收缩特性在第一双支撑相和单支撑相无明显变化，在第二双支撑相和摆动相显著增加。依此总结出在坡度为1∶10的坡道环境下，一个步态周期各个时相内双足机器人下肢左右侧施加控制力的位置、施力大小及作用时间。该试验结果可为康复工程提供理论基础，并指导双足机器人的平衡控制系统设计。
이인하파행주과정중우발적활질현상위연구대상，채용표면기전분석법，탐구인하파실은후적자주평형회복반응궤리。선취10명건강남성재파도위1︰10적파도상진행습활개질유화간조배경하적하파행주시험，채용Vicon운동포착계통화표면기전계통동보채집보태삼수화하지8괴주요기육적기전신호，득출보속화보태시간적현저성 p치분별위0．000、0．025（＜0.05），고수도활이우동후，보속현저증가，보태시간현저감소；좌우량측기육적수축특성재제일쌍지탱상화단지탱상무명현변화，재제이쌍지탱상화파동상현저증가。의차총결출재파도위1∶10적파도배경하，일개보태주기각개시상내쌍족궤기인하지좌우측시가공제력적위치、시력대소급작용시간。해시험결과가위강복공정제공이론기출，병지도쌍족궤기인적평형공제계통설계。
With respect to an accidental slip in downhill walking ,this study aimed to explore the self‐balancing mechanism of peo‐ple after losing gait stability .Ten adult males participated in a walking test across a slope of 1 in 10 ,coated with either slippery (oil) or dry medium and were analyzed surface electromyography .The vicon motion capture systemand surface electromyography were used to collect synchronous data on gait parameters of lower limb and electromyographic signal of eight muscles .After ana‐lyzing the surface electromyography and gait parameters ,significant p‐values of pace and gait were determined to be 0 .000 and 0.025 ,respectively .Results showed that gait time decreases significantly as pace increases significantly under the disturbance . Furthermore ,there was no obvious change to muscular contraction on both sides at the first double‐support phase and the single‐support phase ,but it increased dramatically at the second double‐support phase and the swing phase .More importantly ,in exam‐ining a gait as a cycle ,the force points ,magnitude ,and duration upon the lower limbs of a bipedal robot on a slope of 1 in 10 were summarized in each phase .The findings could provide a theoretical basis for rehabilitation engineering ,and guide the bal‐ance control system design of bipedal robots .