Action Generation And Evaluation Of Ascending And Descending Stairs Based On Human Model

In recent years, as the acceleration of process of aging society, healthcare and medical education draw more and more attention of the society. The daily life motion analysis of elderly is becoming the indispensable important component of fusion disciplines such as healthcare and medical education, research and clinical medicine. Ascending and descending stairs are typical and common action of human. However, human motion experiment is limited by physical condition of elderly, individual difference and action diversity. So, designing human body model and studying its action generation have important research meanings, and provide basis for healthcare and medical education.Considering human movement and weight distribution, the simulation human body model is designed. Movement data at each joint is captured based on Kinect when people walking up and down stairs. According to the movement data, moving track of center of mass is analyzed after the old and the young walking stairs, also an action generation approach of ascending and descending stairs based on upper body gravity move method, is proposed. Through simulating four typical modes of descending stairs, variations of angle and torques at each joint and the stability of this approach are evaluated. Also the impact of stair parameters on model's joints is discussed. The concrete contents and conclusions are as follows.Firstly, the human body model is designed according to the aged body characteristic. Then motion constraints of human body model, such as constraint of ground force, constraint of joints and geometric constraint of stairs, is discussed. Also the stability margin of model is described.Secondly, with re-development of Kinect, human's joints motion data capturing program is wrote. Afterwards experiment platform is built to dynamically pick motion data of several participants when they are walking stairs. And at last, action characteristics of the young, the aged and the aged with the crippling joint disorder at walking stairs are summarized.Thirdly, human action of ascending and descending stairs is analyzed according to experiment results. Then upper body gravity move method under the principle of repeatedly direct kinematics(RDK), is proposed, to generate action of ascending and descending stairs of the old.Finally, four typical modes of descending stairs are simulated, including step over step mode, step by step mode, cane walking mode and mode of reducing burden on injured leg. Variations of angle, torques at each joint and the stability margin are evaluated. Also impact of accident and impact of stair parameters on model's joints are discussed.The results show that changing the modes of descending stairs can reduce load on injured leg joints, improve safety, and achieve stable action of descending stairs. The proposed method and action generation approach are also suitable for other gaits of the old, and provides a basis for healthcare and medical education.