Decision mechanisms analysis for the stepping motion over an obstacle based on a biomechanical approach

摘要

Presents a contribution to a better understanding of the human decision mechanisms involved in a stepping motion over an obstacle. Our aim is to determine the "optimal" strategies adapted to a human body model's evolution under external perturbation during the task execution (external force applied on the trunk in the sagittal plane). Firstly, we exploit physiological data by means of a 3D system for motion measurement and a force platform. The analysis of the experimental results allows us to identify and to quantify the relevant kinematic parameters during this special task. Secondly, we use the biomechanical model of a human structure called "BIPMAN" (BIPedal MAN) and a dynamic control scheme previously developed by P. Gorce (1994, 1995) to ensure dynamic stability during the stepping motion when perturbation occurs.