吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1857-1862.doi: 10.13229/j.cnki.jdxbgxb201506019

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基于多种步态的德国牧羊犬下肢关节角

钱志辉1， 苗怀彬1， 任雷1，2， 任露泉1   

  1. 1.吉林大学 工程仿生教育部重点实验室,长春 130022;
    2.School of Mechanical,Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL,UK
  • 收稿日期:2014-07-04 出版日期:2015-11-01 发布日期:2015-11-01
  • 通讯作者: 任露泉(1944-),男,教授,博士生导师,中国科学院院士.研究方向:工程仿生学.E-mail:lqren@jlu.edu.cn
  • 作者简介:钱志辉(1981-),男,副教授,博士.研究方向:生物力学与工程仿生.E-mail:zhqian@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(51105167); 吉林省科技发展计划项目(20130522187JH); 中国博士后基金项目(2013M530985); 博士后特别基金项目(2014T70293); 教育部重点实验室开放基金项目(K201415)

Lower limb joint angles of German shepherd dog during foot-ground contact in different gait patterns

QIAN Zhi-hui1, MIAO Huai-bin1, REN Lei1,2, REN Lu-quan1   

  1. 1.Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, 130022, China;
    2.School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL,UK
  • Received:2014-07-04 Online:2015-11-01 Published:2015-11-01

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摘要： 以陆地四足动物-德国牧羊犬的前肢为研究对象,采用光学三维运动捕捉技术测试分析多种步态下犬足-地冲击过程中其前肢各关节的运动学特征,研究其前肢关节对地面冲击作用进行调整和适应的规律。关节运动时序、运动幅度及变化范围表明:牧羊犬通过前肢的多关节屈曲协调运动缓冲地面反力作用,相比掌-指关节,犬前肢肩关节、肘关节、腕关节在触地缓冲阶段的作用较明显;犬前肢的缓冲是一种多关节的时空协调运动,肩关节、肘关节、腕关节发挥屈曲缓冲作用的时刻不同,腕关节要早于肩关节,肩关节早于肘关节;同时发现,随着地面冲击作用力的增大,牧羊犬前肢指骨的初始触地角度也随之增长,这种适应性调整可能有利于延长足-地作用时间,进而减小地反力作用强度。

关键词: 工程仿生学, 生物力学, 犬科动物, 关节角, 屈曲运动, 缓冲

Abstract: The forelimb of German Shepherd Dog (GSD), a land quadruped animal, was selected as the subject, and the kinematical characteristics of each joint in for-lower limb under various gaits in the foot-ground impact phase were analyzed using optical three-dimensional motion capture technology. The focus is to reveal how does each fore-lower limb joint adjust and adapt to the ground impact. The analyses of joint movement sequence and joint angle variations show that GSD employs the coordination of multi-joint flexion motion of the fore-lower limb to buffer ground reaction force. Compared with metacarpal-phalangeal joint, the humeral joint, cubital joint and carpal joint of GSD play more important roles in ground impact absorption; while, the flexion motion of these three joints function in different contact phases. The flexion of carpal joint happens first, then the humeral joint, and finally the cubital joint. This may show that the coordination of multi-joint flexion of GSD has spatio-temporal characteristics. This study also finds that the initial contact angle between ground and GSD finger increases with the ground impact force. This adaptive adjustment may help GSD to prolong the cushion time during foot-ground impact phase, thus, decreasing the strength of ground reaction force.

Key words: engineering bionics, biomechanics, canine animal, joint angle, flexion motion, buffering

中图分类号: 

  • TB17
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