Human upper extremity is the most complex and flexible executor during the human movement, coordination analysis of the synergetic control principle of human upper extremity is of great significance in trajectory planning and real-time control of anthropopathy robots and intelligent prosthesis system. Most studies have only been performed within the last 10 years. This paper surveys the research in the structure characteristic and redundancy coordination principle of human upper extremity, and the developments of various prospects of anthropopathy robots, intelligent prosthesis, gymnastic science and rehabilitation evaluation are discussed.
Humans ; Models, Theoretical ; Movement ; physiology ; Upper Extremity ; physiology

本文就康复概念的“泛化”现象 ,提出了一些看法。对康复科学、康复系统工程及其对工程技术的需求 ,进行了分析探讨。结论 :康复工程的广义内涵是理清边界、拾遗补缺、设置接口、实现系统集成 ,利用现代工程技术的手段和方法促进残疾者的全面康复。

This study was designed to determine the effect of backpack loading on the gait pattern and corresponding compensatory strategy, which is important to the balance control of biped robot and military training. Five healthy subjects were instructed to walk at their preferred speed on level pathway taking three different loads i.e. 6 kg, 12 kg and 25 kg, on their backs. The results showed that the gait pattern was apparently influenced, and the dominant effects were found to be the flexion of hip, knee joints and pitch angle of torso. The stride speed decreased apparently with loading on their backs, but the stride length showed less changes. Besides, the responses to taking loads might be influenced by the strength of body. An apparent multi-joints coordination motor mode was employed to compensate the influences of loading, however, their contributions are different; hip, knee joints and torso pitch made dominant contributions to the compensation while ankle joints made minor. The anterior pitch of upper torso could be employed to adjust the overall center of mass while loading on their backs, the larger the magnitude of loading on their backs, the larger the anterior pitch angle of torso. After the heel touched the ground, the flexion of hip and knee joints were effective for the shock absorption, which means that the stiffness of hip and knee joints can be used to absorb the shock and avoid the trauma of each joints.
Adult ; Ankle Joint ; physiology ; Back ; physiology ; Gait ; physiology ; Hip Joint ; physiology ; Humans ; Knee Joint ; physiology ; Male ; Weight-Bearing ; physiology

Evaluation of human gait function is of great significance in clinical medicine and rehabilitation engineering. A quantitative gait evaluation method using principal component analysis was proposed. The evaluation steps included that a series of characteristic index was performed by the gait parameters with a gait detection, and the index was normalized, quantified and summarized by principal component analysis. Then the evaluation results were shown in formulation, figures and tables. The examples showed that this system could evaluate the recovery of the gait by treatment.
Evaluation Studies as Topic ; Gait ; physiology ; Humans ; Principal Component Analysis

Ligaments are the main parts which stabilize the knee joint. How to analog the ligaments in biomechanical model will affect the characteristics of the human knee dynamics and in the computation of the stress in ligaments between two bones. This symposium is aimed at the survey of the simplified method of the ligaments via mechanical parameters, and providing an exact method of constructing model.
Biomechanical Phenomena ; Humans ; Knee Joint ; anatomy & histology ; physiology ; Ligaments, Articular ; anatomy & histology ; physiology ; Models, Anatomic ; Models, Biological

A dynamics model of human lower extremity, which combines musculotendon dynamics and muscle excitation-contraction dynamics, is presented. With this model, a motion process of normal gait during swing phase is numerically analyzed by use of the optimal control theory. The model was verified using experimental kinematics, muscles activation, and electromyographic data. The result showed that the tri-phasic activation pattern and synergistic muscles displayed during a normal gait in swing phase. The pattern consists of three distinct phases, i. e., acceleration during moving initiation, braking the moving segment, and posture control at the final specified position.
Biomechanical Phenomena ; Computer Simulation ; Electromyography ; Gait ; physiology ; Humans ; Kinetics ; Lower Extremity ; physiology ; Models, Biological ; Muscle, Skeletal ; physiology ; Tendons ; physiology