抄録
The human walking characteristics have been actively analyzed in recent years by a computer simulation. In this kind of study special considerations are required in the following aspects: (1) the model has to be carefully defined because the human body has many degrees of freedom; (2) if some experimental results are required as inputs in the simulation, the characteristics that show de finite patterns in the human walking have to be selected as inputs to obtain the simulation result similar to the human characteristics.
In our study a model was first defined to represent an average human body structure by 10 massive elements and 9 ideal joints between massive elements: the massive elements represented an upper torso with head, a lower torso, 2 arms, 2 thighs, 2 thanks, 2 feet, respectively; the physical constants of each element such as length, mass, and so on, were calculated according to the corresponding body element. The equations of motion were simplified by linearization and by neglecting terms of smaller magnitude. The motions of the point of application and of the lower torso were selected as input information in our simulation.
The simulation was carried out for two cases of massive legs and massless legs respectively. The simulation results were represented in a normalized form to compare with experimental results available from literatures. The both simulations showed the characteristics similar to those of the experimental result.
