Biomechanics Characteristic Research Of Human Lower Limb During Walking On Stairs

Anthropomorphic walking device can help the disabled and the aged enhance their athletic ability,so its structural design gait planning,balance control and intelligent realization has become the focus of attention of many scholars.While adaptability to various environments is one of the important properties too.With urbanization process increasing,stairs walking has become popular activity in our daily life.The problem of stairs walking gait planning and postures control about anthropomorphic walking device also deserved attention.In this paper,surface EMG,plantar pressure and gait analysis are used to explore the lower limb gait and muscles Mechanical characteristics during stairs walking.Its aims is to providing a theoretical basis for improving environmental adaptability of anthropomorphic walking device.In this study,healthy young men as the test object are requested to waliking in the specific stair,and ground walking test as a control group.Time space parameters,kinetic parameters and kinematic parameters are collected during walking.These parameters are statisticed,filtered and analusised by using SPSS and ORIGIN software.And then making functional parameters time cicles to obtain some quantitative results.It revealed differences between groundwalking and stairs walking by using ANOVA in surface EMG and plantar pressure parameters.Walking experiments and theoretical analysis are used in this paper to draw the following conclusions:Kinematic and kinetic parameters of the lower limb which are measured during stairs walking are analysised and reached conclusion of three joint's exercise rule.These parameters includes time space parameters,joint angle,joint moment and ground force.It turned out longerdouble support time and greater range of motion ofthe joints are requested during down stairs.And a largerankle dorsiflexion moment are needed in up stairs,larger knee flexion torque are needed in down stairs,the same hip joint moment are needed in up and down stairs.Ground force showed two peaks in stairs walking,and body center gravity acceleration traffic changes are different between up and down stairs.Functional parameters variation with the gait during up and down stairs are obtained by Observed curve about plantar pressure parameters variation with gait during stairs walking.Plantar pressure parameters are analysised between groups and within groups in up stairs,down stairs and ground walking.Analysis shows:metatarsal regionof the foot touch the groud at first when stairs walking.Stairswalking postureis different fromthe ground walking.Different postures causing the arch are apressure pressure increased significantly,bimodal forefoot pressure,pressure-time curves,the ground walking as a single peak curve,load of X-COP swing around strong,Y-COP fierce swing forefoot area.Each phase muscle activation rule are obtained by observing unilater allower limb muscles original surface EMG Figure:Muscle force order during up stairs are Back muscles,followed by the front leg muscle,and finally the front thigh muscles;Muscle force order during down stairs are Tibialis anterior muscle and Medial gastrocnemius,followed by the rest ofthe muscles on the back side,the last remaining front side muscles.Stairs walking degree of muscle activation was significantly greater than the lower limbs ground walking.These findings can be used to direct planning gait track of anthropomorphic walking device in stairs walking,providing the basis for jointdrive device selection,improving anthropomorphic walking device's balance control by controling plantar pressure reasonalble,providing guidance for refined control of joint during stairs walking,and ultimately improving anthropomorphic walking device's steadily and reliability during stairs walking.