人間の歩行開始・停止時の速度特性に関する実験的解析

抄録

This paper deals with the changes of velocity characteristics of initiation and termination of human gait. Velocity characteristics are important in the understanding of human walking, but these have been rarely studied because of difficulties of experimental measurements. The velocity of the center of gravity of the whole body can be evaluated by integrating with respect to time the floor reaction force during walking which is experimentally obtained by a force plate. The velocity fluctuates even in a steady walking state depending on the phase of support of the body by both legs. This fact makes it difficult to discuss transient characteristics of the velocity prior to the steady state ; a model was introduced in this study to represent basic features obtained experimentally. A simple model consisting of a delay element and a first order system was used to approximate experimental velocity curves.