Analysis of walking. Biomechanics running

The speaker of the foot is the interaction of the forces acting on the foot, and the loads and stresses that occur when the influence of these forces. Stop is component The biomechanical system of the musculoskeletal system and its dynamics cannot be considered outlined with this system. The dynamics of the foot is derived from the movements of the musculoskeletal system (kinematics). The most typical movements of a person associated with the load of the foot - walking.

The stop is overcome very large in size and duration repetitive loads. The speed on which the stop "lands" on the support is 5 meters per second (18 km per hour), and when running up to 20 m per second (70 km per hour), which determines the strength of the collision with a support equal 120-250% of body weight. During the day, an ordinary person comes from 2 to 6 thousand steps (for the year - 860,000 - 2,085,600 steps). Even modern devices - foot prostheses do not serve as such exploitation for more than 3 years. The durability of the foot of a person is determined first the perfection of the mechanical structure and secondly - the uniqueness of the material from which "made" stops.

Figure 12. General parameters characterizing walking.

The most common parameters characterizing walking (Fig. 12). These parameters are the line of movement of the center of mass body, the length of the step, the length of the double step, the end angle of the foot, the base of the support, as well as the speed of moving and the rhythm of walking. The support base is the distance between two parallel lines carried out through the centers of the heel support parallel to the movement lines. The base of the support determines the stability of the human body. The turn turn is an angle formed by the movement line and the line passing through the middle of the foot: through the center of the heel support and the point between 1 and 2 fingers. The more foot turn, the greater the support base, but less walking efficiency (and vice versa). A short step is the distance between the point of the heel of one leg and the center of the opposite foot support. Rhythmic is the number of steps per minute. For an adult - 113 steps per minute. Rhythmic is the ratio of the duration of the portable phase of one leg to the duration of the portable phase of another leg. Walking speed - the number of large steps per unit of time, is measured in units: step per minute or kilometer per hour.

Figure 13. Methods of printing.

Walking methods. Cinematics walking are studied using contact and contactless sensors for measuring the corners in the joints (goniometry), as well as using gyroscopes - devices, allowing to determine the angle of inclination of the body segment relative to the gravity line. An important method in the study of kinematics walk is the cyclography method - the method of registration of the coordinates of luminous points located on the bodies segments.

Dynamic walking characteristics are studied using a dynamographic (power) platform. In support, the power platform register the vertical reaction of the support, as well as its horizontal components. To register the pressure of individual sections of the foot, pressure sensors or strain gauges are used, mounted in the sole of shoes. The physiological parameters of walking are recorded using the methodology of electromyography - methods of registration of muscle biopotentials. Electromyography, compared with the data of the methodology for estimating the time characteristic, kinematics and walking dynamics, is the basis of biomechanical and inertial analysis of walking.

The picked list allows you to register the moments of contact of various fees of the foot with a support for evaluating the time structure of walking. On this basis, the time phases are determined. Consider an example of a study of a walk based on the use of the simplest, two-contact electrophone. This method is to use contacts in the sole of special shoes, which are closed in support on the biomechanical path. The figure shows walking in special shoes with two contacts in the heel area and the front of the foot. The contact closure period is registered and analyzed by the instrument: closure of the rear contact - support on the heel, the closure of the rear and front - support on the entire foot, closing the front contact - support on the front of the foot. On this basis, a graph of the duration of each contact for each leg is built.

Figure 14. Temporary walking structure.

There are various schemes of the temporary structure of the step proposed by various biomechanical schools. The schedule of the simplest two-contact sign is depicted in the form of two schemes: the prints of the right leg and the apparatus of the left leg. Red legged with red legs highlighted. That is, that foot, which in this case begins and finishes the walking cycle - double step. The thin line indicates the lack of contact with the support, then we see the contact time on the back of the foot, on the entire foot and the front department. The locomotor cycle consists of two double and two portable phases. According to the apparatus, the interval of supports on the heel, on the entire foot and on its front department. The temporal characteristics of the step are expressed in seconds and in percentage of the duration of the double step, the duration of which is taken for 100%. All other walking parameters (kinematic, dynamic and electrophysiological) are tied to the apparatus - the main method of assessing the time characteristic of walking.

When walking, a person consistently relies on one one, then on another leg. This foot is called reference. The contralateral (opposite) foot at that moment is taken forward (this is a portable foot). The period of transfer of the leg is called the "transfer phase. A full cycle of walking - a period of a double step - it is composed for each leg from the support phase and phase of the limb. In support period, the active muscular force of the limbs creates dynamic shocks, reporting the center of gravity of the body acceleration necessary for the translational movement. When walking, at an average pace, the support phase lasts about 60% of the double-step cycle, the support phase of approximately 40%. Consider the most common displacement of the body in the sagittal plane during the double step. The beginning of the double step is taken to consider the moment of contact of the heel with the support. Normally landing the heel is carried out on its outdoor department. From this point on, this (right) foot is considered support. Otherwise, this phase is called the front impetus - the result of the interaction of gravity of a moving person with a support. At the same time, the support reaction occurs on the plane, the vertical component of the cortex exceeds the mass of the human body.

Figure 15. Power reaction support.

Real forces when walking, which can be measured is the reaction forces of the support. Comparison of the reaction force of the support and kinematics of the step allows you to make the magnitude of the torque of the joint. The strength of the support reaction is the force acting on the body from the support. This force is equal and opposite to the strength that the body has on the support. If, when standing the power of the reaction, the support of the body is equal to the weight of the body, then the power of the inertia and the force created by the muscles during repulsion from the support are added to this force.

To study the reaction force, the support usually use a dynamographic (powerful) platform, which is mounted in a biomechanical path. In the process of walking on this platform, the emerging forces are recorded - the reaction forces of the support. The power platform allows you to register the resulting support for the reaction force of the support.

The dynamic characteristic of the walk is estimated by the study of support reactions that reflect the interaction of the forces participating in the construction of a locomotor act: muscle, gravitational and inertial. The vector of the reference reaction in the projection on the main planes is decomposed into three components: vertical, longitudinal and transverse. These components make it possible to judge the efforts associated with vertical, longitudinal and transverse movement. general Center masses.

The support force of the support includes a vertical component acting in the up-down direction, a longitudinal component, forward-back along the Y axis, and a transverse component, aimed at medial-laterally along the X axis. It is derived from muscle strength, gravity force and inertia forces Body.

Figure 16. Vertical component of the reference reaction.

The vertical component of the vector support reaction (Fig. 16). The graph of the vertical component of the support reaction when walking normally has a form of a smooth symmetric twin-corn curve. The first maximum curve corresponds to the time interval,

When, as a result of the transfer of the severity of the body on the supporting leg, the front push occurs, the second maximum (rear push) reflects the active repulsion of the leg from the supporting surface and causes the body progress up, forward and towards the support limb. Both maxima are located above the level of body weight and are approximately 100% of the weight of the body, at a slow pace, at an arbitrary temperature of 120%, with a fast - 150% and 140%.

The minimum of the support reaction is located symmetrically between them below the body weight lines. The emergence of a minimum is due to the rear shock of another leg and subsequent transfer; At the same time, the force pointing upwards, which is deducted from the body weight. The minimum of the support reaction at different rates is from the weight of the body, respectively: at a slow pace - approximately 100%, at an arbitrary pace 70%, with a quick - 40%.

Thus, a general trend with an increase in the walking rate consists in growing the values \u200b\u200bof the front and rear jokes and the reduction of the minimum of the vertical component of the support reaction.

Support reaction - these forces attached to the foot. When entering into contact with the surface of the support, the foot experiencing pressure from the support side, equal and the opposite of the one that stops on the support. This is the reaction of the foot support. These forces are unevenly distributed over the contact surface. Like all the strength of this kind, they can be depicted in the form of a resulting vector, which has the value and point of the application.

Figure 17. Point of the support vector of the reaction of the support.

The point of the support vector of the reaction of the support on the stapup is called the pressure center. This is important in order to know where the point of application of the forces acting on the body from the support is located. When studying on the power platform, this point is called the point of application of the reaction force of the support. The trajectory of the reaction force of the support in the process of walking is depicted in the form of a graph: "The dependence of the power of the reaction force of the support period of the reference period". The graph is the movement of the reaction of the support under the foot. Normal pattern, the trajectory of moving the support reaction at normal walking is the movement from the outer section of the five along the outer edge of the foot in the medial direction to the point between 1 and 2 of the foot.

The trajectory of movement is variable and depends on the tempo and type of walking, from the relief of the surface of the support, from the type of shoes, namely from the height of the heel and the stiffness of the sole. Pattern of the support support is largely determined functional state Muscles of the lower limb and inervational walking structure.

Important information on the distribution of pressure on different parts of the foot is obtained using strain gauges. Tenzodators - Pressure sensors are placed in a special shoe insole. This research method allows you to study the non-resolving force of the support reaction, as with a dynamometric method, and the distribution of pressure under different parts of the foot.

Features Biomechanics feet when walking. When walking the stop, four main functions are performed: adaptation to surface irregularities, the absorption of the impact energy when landing, the rigid lever function for transmitting the rotational torque by the overlying segments, redistribution and mitigation of the rotational efforts of the overlying segments. Figure 18. Phases of the support reaction. The footbroken of the foot and the function of the foot in various phases of the step are different. If in the depreciation phase, the main task of the foot is to mitigate the impact at contact with the surface, then in the period of support on the entire foot - the task of the foot is the redistribution of energy for effective implementation The next phase is repulsing from support. This phase poses before stopping the problem of transmitting the proportion of the reaction force with the above segments. Mitigation of the inertial load when walking and running is carried out by a complex complex of the articular and ligament unit connecting 26 of the main bones of the foot, in which 3 longitudinal and transverse archs are distinguished. Consider the structure of only one of them - the average longitudinal arch. The heel, tranny and bones are plusing and prelux to form a kind of arc - the refrigera, which can be constructed and straighted. Load - body weight - distributed evenly on the front and rear footage of the foot. The front and rear fees are connected to a single kinematic chain with powerful elastic tendon - plantar aponeurosis,

Which like a spring returns the arrow of the foot flashed under load (see the article "Stack in Static").

Consider the points of the reaction of the support of the support to the foot in the process of the support phase. The stop landing on the outer heel. Then, during the landing phase, the support center of the reaction force is shifted to the foot center in the support phase to the entire foot and on its front internal department to the repulsion phase. The biomechanical meaning of such a trajectory of moving the point of the application of the reaction force of the support is that torque points are created in different phases of support, which cause the following movements in the foot joints: foot supination - heel and front departments (Figure 1); The stopping of the foot - the Walgus of the Front Department and heel, the molding of the foot (Figure 2); Again, the position of the foot, in which the joints of the foot are closed and the stop becomes the rigidity necessary to transmit energy by the upper segments (Figure 3). In the support, the joints are blocked on the entire foot, the stop is easily adapted to the surface of the support. During this period, the flow of the foot stores energy in the form of energy of elastic connections, which then returns during the repulsion period.

The position of the foot is the result of the inner rotation of the hip in the first half of the leg support. When the knee is supported on the heel, the thigh is rotated inside, it accelerates rolling through the heel and the transfer of body weight to the entire foot. Then the stop is inevitably molded, and the energy of the movement turns into the energy of the elastic bonds of the foot.

Figure 19. Supporting and stopping the foot.

Thus, during walking, we can observe two patterns of movements in the footsacks of the foot: Supposition and Pronation (Figure 19). When the stop supination is rotated inside due to the countable joint, the heel is in the position of the Varus, the arch is high. The joints of the feet are in the closure position, which ensures the necessary stiffness of the foot when landing and repulsion. When you stop the foot, we see the reverse pattern: the longitudinal arch is descended, the heel in the sweated joint takes the position of the Valgus, the joints are blocked, the stop is easily adapted to the support. Note that the longitudinal arch of the foot actively holds the front tibial muscle, additionally softens the inertia of the landing and returns the stiffness of the foot while repulsion. At the time of the stop of the stop creates a rotational moment of the shin - the moment of outdoor rotation.

Figure 20. Movement in the sweated joint.

Movement - the position of the foot is rotation in the sweated joint (Fig. 20). The axis of this joint is located space, in such a way that the stop of the foot leads to the rotation of the lower leg. This is important for consideration of the issue - the features of the Biomechanics of the knee joint when walking. Most of the subtaranted joint is located space in front of the back, from the inside to the outside. It clearly does not coincide with the direction of the axis of the ankle and knee joints. However, it is its position (clearly unauthorized with other joints) determines the effectiveness of walking.

Figure 21. Load distribution during the support period on the foot when walking.

In Figure 21, we see that the first peak of the load is obtained from the contact of the exterior decoration with the support, this peak is in the first phase, in the front shock phase. As the load is flogged through the heel, the load moves more on the medial heel. Then, the load is moved sequentially at 5, 4, 3 and then the second ventilation bone. It is typical for the support phase on the entire foot. And in the repulsion phase, in the support phase on the front department, the load moves to the first hanging bone and the thumb. Penage of the first finger and repulsion from the support completes the support phase of the step. Stop breaks away from the support. As we said, the resulting, obtained when adding all the forces, which are formed when landing, support and repulsion, looks like a double curve. It should be noted here that the forces defining the support reaction have a different direction. If, when landing, the forces of gravity and inertia are directed down, then when repulsion, the force of active cutting muscles and the inertia of the body is up. When landing, the muscles legs work in secondary mode and quench the impact energy. To implement this mechanism, the transformation of the translational movement into the rotational is necessary.

One of these mechanisms we considered above: the support on the heel leads to a rotation relative to the base joint, the position of the foot leads to an outdoor rotation of the lower leg and thus the landing energy is transmitted to the overlying segments.

Figure 22. Model of the opposite pendulum.

However, this is not enough for the full absorption of the front push. Consider another important biomechanical mechanism - rotation relative to the ankle joint. To do this, imagine a walking person in the form of a reverse pendulum with the center of rotation in the ankle joint. We see how a torque arises on the heel on the heel, the shin under the influence of the inertia's strength bends forward, there is a whole cascade of rotation in the overlying joints of the legs, and the common center of body masses is moving forward. The scheme shown in Figure 22 is not entirely accurate, on it (for simplification) is not shown very important moment, very important mechanism - prevent in knee joint At the time of support on the heel. This and many other mechanisms for transformation of movements when walking, we may consider in other articles dedicated to Biomechanic walking.

Figure 23. Giving and overcoming muscle work when walking.

In order to obtain the general administration of the muscles when walking, which are not only the source of the energy of the translational movement, but also perform an important function of absorption and the redistribution of energy in the first phase of the support. Look in Figure 23. The muscles of the lower limb work then in the inferior, then in the overcoming mode, that is, it is slowed down, then accelerate movements in the joints, providing a smooth forward movement of the total mass center.

The foot is the first loadable link of this complex transmission. It makes contact with the support, it redistributes the force of the support reaction to the overlying segments of the musculoskeletal system and performs an important spring function, it provides the resistance of the leg and the clutch with the support surface.

The ability of foot to withstand the loads is due not only to biomechanically perfection, but also the property of the components of its tissues. The short and durable bones of the foot have the form of exactly the corresponding direction and the magnitude of the load.

The well-known law of biology states "The function determines the form", from this flowing the time and practice postulates: "The mechanical stresses fully determine all the details of the structure" and "the bone increases mainly in the direction of thrust and perpendicular to the pressure plane." The structure of the load of everyday movements affects the growth of a children's skeleton (for example, a more loaded push is growing faster, usually right, leg), and on the structure of the skeleton in adults. The outer shape of the bones may vary under the influence different species Sports or professional movements. They become massive and thicker due to the increase in bone mass in the most loaded areas. Thus, the bones of the foot adapt their strength in accordance with the weight of a person and with everyday motor activity.

Figure 24. Fitted aponeurosis and heel spur.

A similar law acts in relation to the connective tissue structures of the foot (ligaments, tendons and fascia). The fibers of the most powerful fascia of the foot - the plantar aponeurosis are oriented along the most loaded longitudinal arch of the foot (Fig.24).

If the repetitive loads are in its magnitude or duration exceed the capabilities of the foot tissues, then pathological reactions of overload and pathological processes are developing, such as tendon inflammation, fatigue, tendons breaks ... for example, calcium salts deposition in the field of attachment of the plantar aponeurosis to the heel bug. Bones, which is referred to as the heel spur.

Flat, hypodynamia, redundant sports loads - the usual reason for these diseases. But about this in another article.

Walking - Automated motor act carried out as a result of complex coordinated activity skeletal muscles Torso and limbs.

Stripping from the soil, the foot leads the body in motion - forward and somewhat up and again makes scope in the air.

When walking the body alternately relies on the right, then on the left foot.

The act of walking is distinguished by an extremely accurate repeatability of its individual components, so each of them represents an accurate copy in the previous step.

In the act of walking, the upper limbs of a person is also taken on active participation: when removing the right leg right hand Moves back, and left - ended forward. Hands and feet of a person when walking make movements in opposite directions.

The movement of individual links of the free leg (hips, legs and feet) is determined not only by cutting muscles, but also inertia. The closer the link to the body, the smaller his inertia and the earlier it can follow the body. So, the thigh of the free foot moves forward before all, since it is closest to the pelvis. The shin, being farther from the pelvis, lags behind that leads to bending his legs in the knee. Similarly, the lagging foot from the leg causes flexion in the ankle joint.

The consistent involvement of muscles into operation and the accurate coordination of their abbreviations when walking is provided by the CNS person and mainly the crust of large hemispheres of the brain. From the point of view of the nervous mechanism, the walking is an automated chain reflex, in which an afferent impulsation, accompanying each previous movement element, serves as a signal to begin next.

Functional analysis walking. Walking is a complex cyclic locomotor action, one of the main elements of which is a step.

When walking, as in other types of locomotor movement, the movement of the body in space due to the interaction of the internal (muscle contraction) and the external (body weight, the resistance of the support surface, etc.) forces. In every step committed by the right and left foot, distinguish the period support And the period mach. Self characteristic feature All types of walking compared to running and jumping is the constant reference position of one leg (period of a single support) or two legs (dual support period). The ratio of these periods is usually 4: 1. As a period of support, and the Mach period can be divided into two main phases, namely: the period of support - on front shock and rear push, Draised Moment vertical; Mach - rear Steps and Front Step Phasesbetween which the moment is also located vertical.

Phase front push. After the final phase of the fore step begins the setting of the foot on the soil with an almost straightened, but not fixed with the knee joint and bent, slightly reserved and the suspensed thigh. The stop becomes the support surface of the heel, after which it makes a double ride: from the heel on the sock and outside inside. This rolls occurs under the influence of the gravity of the body and consistent inclusion in the work of a short small-terror muscle, lifting the edge of the foot and then the muscles - a long mulberry, rear tibial, long bent thumb Feet and long flexor fingers supporting the longitudinal arc (arch) of the foot. Such a movement of the foot has dual value: Increase the length of the step and stretching the muscles of the back of the leg, participating in the repulsion of the body. In the initial period, the support acquires great importance Spring function performed by the joints of the foot and the loose knee joint. Next, under the action of gravity and inertia, the leg of the leg is somewhat flexed in the knee joint and is inflicted in the ankle joint with the inferior operation of the four-headed muscles and muscles of the back of the leg, which further increases the buffer properties of the limb.

Moment vertical. TO The moment of the vertical of the foot is straightened and is given due to the reduction of the majority of the thigh muscles and partly under the influence of gravity. At this time, the stop rests on the ground with all soles, and most of its muscles their reduction contributes to the preservation of the arches and participates in the retention function of the body equilibrium.

Phase rear push body (repulsion from the reference surface). In this regard, the finiteness in contact with the ground is lengthened due to extension in all its joints. In the hip joint again there is some lead, but in contrast to the front push, accompanied by a small twist of the thigh (inside). The leading role in this phase belongs to a four-chapted, semi-dry, semi-sephel, long head is a two-headed and mainly butorous muscles.

Phase rear step. At the beginning of this phase (immediately after the end of the rear shock), the mane leg is in the position of extension, some lead and turning inside, which leads to the turn of the pelvis along with the torso in the opposite direction. From this position, the foot, producing a step, begins to be flexing in the hip and knee joints, complemented by a minor turn to the outside, which is interconnected with the rotation of the pelvis towards the Machova. At this time, the main load falls on the muscles: the iliac-lumbar, leading, rear thigh and partly on the extensors of the foot.

Moment vertical. The wave leg is straightened in the hip joint and reaches maximum bending (compared to other phases) in the knee joint. The main muscles of the thigh rear department are reduced.

In the front step phase The muscles of the backyard of the thigh relax and thanks to the power of inertia and a short-term ballistic reduction of the tongue-headed muscle, the shin is thrown forward. After that, the new cycle of movement begins.

The center of gravity of the body (CT) when walking (Fig. 15.18, a), along with progressive movements (forward), performs the movements of the lateral and vertical direction. In the latter case, 4 cm (in an adult) reaches the scope (up and down), while the body is lowered most when one leg is based on all soles, and the other is rendered forward. Side movements (swings to the sides) of the center of gravity reach up to 2 cm.

The oscillations of the body of the body to the parties are associated with the movement of the entire body of the body on the supporting leg, due to which the trajectory of the body of the body passes directly above the support area. What walking faster, the one of these vibrational movements is less, which is explained by the influence of the inertia of the body.

The step size on average is accepted for 66 cm, with a calm walking the duration of it - about 0.6 seconds.

In addition to the muscles lower extremities When walking, almost all muscles of the body, neck and upper limbs are included in the dynamic work.

Due to the consistent alternation of stretching, cutting and relaxing various muscular groupsWhat happens during walking, a significant load on the entire muscle system usually does not cause pronounced fatigue. It is also explained to a large extent that the rhythmic movements of the entire body facilitate the normal ventilation of the lungs and improve the blood circulation of all organs, including the central nervous system (CNS). So walking is best view physical training.

When walking, a person interacts with a support surface, while the power factors, called the main vector and the main point of the reaction forces, arise. Typical graphs of the vertical and longitudinal components of the main vector support reaction when walking in an arbitrary pace are presented in Fig. 15.18. For the graph of the vertical component of the main vector of the support reaction, the presence of two vertices corresponding to the front (support on the heel) and the rear (repulsion of the front stop) shocks. The amplitudes of these vertices exceed the mass of human and reach 1.1 - 1.25r (R -massa man).

The longitudinal component of the main vector of the reaction forces has also two vertices of different characters: the first corresponding to the front push is aimed forward; The second corresponding to the rear push is directed backwards. So it should be - pushing out the supporting leg, a person rushes the whole body forward. The maxima of the longitudinal component of the main vector of the support reaction reaches 0.25 rubles.

There is another component of the main supporting reaction vector - transverse. It occurs when stealing from one foot to another and its maximum reaches 8-10% of the mass of man.

Temporary step step. The locomotion of the person is a periodic process, in which approximately equal intervals are repeated similar body positions. The smallest time passed from this position before it repetition is a cycle time. When walking and running, the cycle time is called by the number of steps taken by the "double step time". Each leg in its cyclic movement is either on the support, or is transferred to the new-place support (Fig. 15.19).

When running the moment of support less than the moment of transfer; There is a period of free flight above the support (see Fig. 15.19).

^ Walking
Walking - automated motor act carried out as a result of complex coordinated activity of skeletal muscles of the body and limbs.

Stripping from the soil, the foot leads the body in motion - forward and somewhat up and again makes scope in the air.

The sequence of an adult limb position when walking is shown in Fig. 15.16. When walking the body alternately relies on the right, then on the left foot.

Fig. 15.16.Walking is normal. Width and length of step (a). Deviation of the center of gravity (CT) during walking along the vertical axis by 5 cm (b). The deviation of the CT aside by 2.5 cm (in)(by S. Hoppenfeld, 1983)
The act of walking is distinguished by an extremely accurate repeatability of its individual components, so each of them represents an accurate copy in the previous step.

In the act of walking, active participation is also taken by the upper limbs of a person: when removing the right leg, the right hand moves back, and the left is removed forward. Hands and feet of a person when walking make movements in opposite directions.

The movement of individual links of the free leg (hips, legs and feet) is determined not only by cutting muscles, but also inertia. The closer the link to the body, the smaller his inertia and the earlier it can follow the body. So, the thigh of the free foot moves forward before all, since it is closest to the pelvis. The shin, being farther from the pelvis, lags behind that leads to bending his legs in the knee. In the same way, the lag behind the leg of the leg causes bending in the ankle joint (see Fig. 15.16).

^ Functional analysis of walking. Walking is a complex cyclic locomotor action, one of the main elements of which is a step (Fig. 15.17).

When walking, as in other types of locomotor movement, the movement of the body in space due to the interaction of the internal (muscle contraction) and the external (body weight, the resistance of the support surface, etc.) forces. In each step committed by the right and left leg, the period of support and Mach period distinguish. The most characteristic feature of all types of walking in comparison with running and jumping is the constant reference position of one leg (period of a single support) or two legs (dual support period). The ratio of these periods is usually 4: 1. As a period of support, and the Mach period can be divided into two main phases, namely: the period of support - on the phases of the front push and the rear shock, separated by the torque of the vertical; Mach - the rear step phases and the front step, between which the vertical moment is also located.

Fig. 15.17.The degree of contraction of the muscles of the body and the lower limb

indouble step during normal walking (according to the data of the electromyographic analysis produced by B.C. Gurfinkel in the CNIU of prosthetics and prosthetic designer). The black color shows the maximum reduction, double stroke - strong reduction, single - average reduction, dots - weak reduction, white shows muscle relaxation: 1 - direct abdominal muscle; 2 - straight muscle thigh; 3 - front tibial muscle; 4 - Long Malobert Muscle; 5 - calf muscle; 6 - semi-dry muscle; 7 - bonding muscle thigh; S - Big jagged muscle; 9 - muscle tensioning wide fascia; 10 - Middle Broodicals; 11 - cross muscle

Phase front push.After the final phase of the fore step begins the setting of the foot on the soil with an almost straightened, but not fixed with the knee joint and bent, slightly reserved and the suspensed thigh. The stop becomes the support surface of the heel, after which it makes a double ride: from the heel on the sock and outside inside. This rolls occurs under the influence of the gravity of the body and the consistent inclusion in the work of the short small-terror muscle, lifting the edge of the foot and then the muscles - the long mulberry, the back of the tibial, long flexor of the thumb and the long flexor of the fingers supporting the longitudinal arc (arch) of the foot. Such a movement of the foot has a dual value: an increase in the length of the step and stretching the muscles of the backyard of the legs involved in repulsion of the body. In the initial period, the support becomes great importance to the spring function performed by the joints of the foot and the loose knee joint. Next, under the action of gravity and inertia, the leg of the leg is somewhat flexed in the knee joint and is inflicted in the ankle joint with the inferior operation of the four-headed muscles and muscles of the back of the leg, which further increases the buffer properties of the limb.

^ Moment vertical. By the time the vertical, the foot is straightened and is given due to the reduction of the majority of the thigh muscles and partly under the influence of gravity. At this time, the stop rests on the ground with all soles, and most of its muscles their reduction contributes to the preservation of the arches and participates in the retention function of the body equilibrium.

Phase rear push body(repulsion from the reference surface). In this regard, the finiteness in contact with the ground is lengthened due to extension in all its joints. In the hip joint again there is some lead, but in contrast to the front push, accompanied by a small twist of the thigh (inside). The leading role in this phase belongs to the four-headed, the floor of the tendon, semi-pepper, long head is two-headed and mainly the jagical muscles.

Phase rear steps.At the beginning of this phase (immediately after the end of the rear shock), the mane leg is in the position of extension, some lead and turning inside, which leads to the turn of the pelvis along with the torso in the opposite direction. From this position of the leg, producing a step, begins to be flexing in the hip and knee joints,

its supplemented with a minor turning out, which is interconnected with the rotation of the pelvis towards the Machova. At this time, the main load falls on the muscles: the iliac-lumbar, leading, rear thigh and partly on the extensors of the foot.

^ Moment vertical. The wave leg is straightened in the hip joint and reaches maximum bending (compared to other phases) in the knee joint. The main muscles of the thigh rear department are reduced.

^ In the front step phase the muscles of the backyard of the thigh relax and thanks to the power of inertia and a short-term ballistic reduction of the tongue-headed muscle, the shin is thrown forward. After that, the new cycle of movement begins.

The step size on average is accepted for 66 cm, with a calm walking the duration of it - about 0.6 seconds.

In addition to the muscles of the lower limbs when walking, almost all muscles of the body, neck and upper limbs are included in the dynamic operation.

Due to the consistent alternation of stretching, cutting and relaxing various muscle groups, which is happening during walking, significant load on the entire muscle system Usually it does not cause pronounced fatigue. It is also explained to a large extent that the rhythmic movements of the entire body facilitate the normal ventilation of the lungs and improve the blood circulation of all organs, including the central nervous system (CNS). Thus, walking is the best kind of physical workout.

^ Kinematic and dynamic characteristics of a person between the longitudinal axes of adjacent limb segments, you can measure (the so-called interspaved angles). In fig. 15.18 shows graphs of interstitial angles in the hip joint (TBS), knee (COP), ankle (GSS) and power-standing (PFS) when walking normally.

A characteristic feature of the graphs of these angles (angulograms) is quite stable frequency. Different people change only the duration of the period and the range of changes in the angle (amplitude). Normally, these amplitudes are: in TBS 26-30 °; in the COP in the support period of 12-15 °; in the portable period - 55-62 °; In the GSS, the plantar bending is 17-20 °; Rear - 8-10 °. In PFS, there is always a rear bending when the transfer (10-12 °) is always, when the support is rectified to 0 °, and with the rear push (from the rear push of the supporting leg, the body rushes forward) in the PFS again bending to 10-12 °.

Fig. 15.18.Moving the general center of gravity (OTS) of the body with normal

walking (a). Graphs of inter-spa corners and support reactions when walking

normally: TBS, COP, GSS, PFS - respectively, hip, knee,

ankle, plusneflanging joints; Rz, Ry - vertical

and longitudinal components of the support reaction (b)
The longitudinal component of the main vector of the reaction forces has also two vertices of different characters: the first corresponding to the front push is aimed forward; The second corresponding to the rear push is directed backwards. So it should be - pushing out the supporting leg, a person rushes the whole body forward. The maxima of the longitudinal component of the main vector of the support reaction reaches 0.25 rubles.

There is another component of the main supporting reaction vector - transverse. It occurs when stealing from one foot to another and its maximum reaches 8-10% of the mass of man.

^ Temporary step step. The locomotion of the person is a periodic process, in which approximately equal intervals are repeated similar body positions. The smallest time passed from this position before it repetition is a cycle time. When walking and running, the cycle time is called by the number of steps taken by the "double step time". Each leg in its cyclic movement is either on the support, either transferred to a new support place (Fig. 15.19).

When running the moment of support less than the moment of transfer; There is a period of free flight above the support (see Fig. 15.19).

Fig. 15.19.Kinogram walking (a) and running (b) for a single step

and a double-step time diagram (by E. Muybriage, 1887; D.A. Semenov, 1939).

a - start, e -the end of the foot support, and e -left, and "E" - right leg, Ae - the time of support of the left leg, and "E" - the time of supporting the right leg; at the top of AE "and A" E "- the time of double layers when walking, downstairs" A and EA "- the flight time when running. Continuous line - support, stroke - footage
^ External forces and reaction force support
On the body of a person walking or running along the surface of the Earth, the aerodynamic forces of the resistance of the atmosphere, the reaction force of the support.

The aerodynamic forces are distributed over the surface of the body and increase approximately in proportion to the area of \u200b\u200bthe frontal projection of the body surface and the square of the speed of movement.

One of the most significant forces is the power of the reaction of the support surface, affecting the feet of a person. In accordance with the kinetostatic principle of D "Alamber, these forces are equal and opposite to the forces of aerodynamic resistance, the weight of body parts and inertia forces appearing in the body due to changes in the speeds of its parts. Therefore, the magnitude of the reference reactions can serve as a kind of indicator showing the simultaneous action of all forces on Organism at locomotion.

During the reference time, the human body receives the necessary impulse, which is the result of the active action of muscles.

Supporting reactions are unevenly distributed on some relatively small contact area between the stop and the surface of the support. The distribution is changed over the time of the support: the pressure is first created on the heel, then when setting the entire foot on the support it occurs in the field of tie bones (see Fig. 15.19) and here at the moment of repulsion from the support pressure reaches maximum value. The location of the pressure maximum on the foot changes when the locomotion rate changes, the view of the locomotion (running, jumping, walking, etc.). Most often, this maximum is located in the midst of the foot in the area of \u200b\u200bthe heads of tie bones (see Fig. 15.19).

According to the rules of mechanics, the power interaction between the foot and support can be represented by one relative vector of force and one relative vector of the moment (see Fig. 15.19). In measurements using dynamometric platforms installed at one level with a support surface, six equivalent components of these two vectors are recorded. Of these, three components are the projections of the vector of the resultant force: the vertical force is a projection on the normal to the surface of the platform (coinciding with the gravitational vertical),

longitudinal and lateral forces - projections located in a horizontal plane, respectively, in the direction of movement and perpendicular to the direction of the body movement (Fig. 15.20). The remaining three components are the projections of the relay vector of the moment of forces on the same directions. Since the longitudinal and side components of the moment of forces depend only on the value of the vertical force and on the coordinate value of the estimated point of the application of this force on the plane of the dynamometer platform, then, equating the indicated components of the moment zero, find the equation to calculate the two coordinates of the vertical power application point.

When walking graphs, the component of the reference reaction has two maxima (Fig. 15.21). The first maximum holds the body from falling forward and occurs on the support approximately at the end of the repulsion from the sock of the opposite foot. The power of the reaction of the support is applied to the heel of the braking leg and is directed up-back and slightly inside the foot. The moment of forces during the support on the heel is relatively small, and the direction of its action is influenced. The second maximum on the graphs of the component of the reference reactions, called the rear impetus, occurs at the end of the support phase of the leg approximately before the foresight of the support on the opposite foot. With the rear puster, the support reaction is applied in the field of tienefaulating joints and is directed up-forward and slightly inside the foot. Overcoming the inertia of the body and weight, this force accelerates the body in the direction of movement, and also contributes to the side movement towards the opposite foot, the heel of which is placed on the support. Between the main maxima there is a pause in changes in the magnitude of the reference reaction. At this time, the stop is completely on the support and at some point in time, called the torque of the vertical, the body is above the standing stop, and the portable foot passes next to the support. The reaction force of the support is applied near the middle of the foot and is directed vertically upwards. The moment of the reaction forces of the support prevents the turn of the foot to the outstand.

There are small magnitudes of the lateral force and the moment of forces. This is due to the fact that locomotions are carried out mainly in the sagittal plane, and small lateral forces arise from the desire of the body to compensate for small deviations from the sagittal direction.

Walking is an automated motor act, carried out as a result of the extremely complex coordinated activity of skeletal muscles of the body, lower extremities. Human walking is made up of individual steps, representing a simple locomotor cycle, where two phases are distinguished:

Transfer.
Supports.

In the transfer phase, the foot transfer in the air to the more distant position occurs. In the phase, the foot support is in contact with the surface on which a person moves. At the beginning of the transfer of the lower limb forward(The so-called postposition phase) The following movements occur (Fig. 1a):

The flexion of the hip joint, which is carried out with the help of a lumbly-ileum muscle.
The bending of the knee joint with the agreed effect of the blood muscles of the thigh and the sedlication-femoral muscles (semi-resertream, semi-dry muscles, and long and short heads Hip double muscles).
The flexion of the ankle joint with the involvement of the muscles-flayers of the ankle and the anterior tibial and tertiary little metal muscles.
Foot Impretten Foot Muscles Foot Muscles Foot (long finger extensor, long foot extensor, short finger extensor, short foot extension foot).

For the initial contact of the foot with the surfacethere are such processes as (Fig. 1B):

The end of the hip flexion process is a lumbar-ileum muscle.
The extension of the knee joint is a four-headed thigh muscle.
The end of the flexion of the ankle joint with the muscles by extensors of the fingers of the foot and the bends of the ankle joint.

At the moment when the carrying leg completely relies on the surface, then there is a persistent effect of the four-headed muscles of the thigh and the start of the work of a large jagged muscle (Fig. 1c).

Fig. 1. Human walking phases

The next phase of walking is transferring the body forward. Here we observe such actions (Fig. 2a):

The extension of the hip joint by means of the impact of a large jagged muscle and sedanistic thigh muscles.
Antagonism synergism with a four-headed thigh muscle.
Flexion of the ankle joint with muscles-flexors in synergies with a large one-year muscle.

In the process first motor push before supporting two legs There are such processes as (Fig. 2B):

The continuing extension of the hip joint is a large jagged muscle and satellite-poor muscles.
The continuing extension of the knee joint is the thigh tongue.
The extension of the ankle huts with a two-headed thigh muscle and foot folders (long finger flexor, long and short feet of a thumb, short finger bent.).

In phase second Motor ShoneAccording to the human carrier foot with full extension, while the fluid limb is going to step onto the floor there is an increase in the action of the four-headed muscles of the thigh, a large bodied muscle, the sedlication and femoral muscles, the two-headed muscles of the hip and the muscles-flexor foot feeders (Fig. 2c).

At the beginning transition with one carrier limb to another There is a process of shortening the transferred limb due to the reduction of the sedlicate-femoral muscles and the muscle-flexors of the ankle joint, as well as the flexion of the hip joint of the lumbar-ileum muscle (Fig. 2d).

In the process movement of limb in frontthe effect of the lumbly-ileum and four-headed muscles of the thigh with the relaxation of the sedlication and femoral muscles is enhanced. In revenge, this is the extension of the knee joint by reducing the four-headed muscle of the trouble and raising the footsteps of the foot of the foot of the foot (Fig. 2e). Next should be the beginning of a new cycle.

Fig. 2. Phase walking

Muscles of legs are not the only muscle groups that participate in walking.

To hold a person's body in an inclined position when transporting legs, muscles are reduced rear surface Torso, such as:

1. Trapezoid muscle.

2. Wide muscle back.

3. The rhombid muscle of the back, which consists of a large diamond muscle and a small diamond muscle.

4. Muscle, straightening the spine.

5. Long back muscle.

In order to prevent the body falling back at the rear step, the muscles of the front of the body of the body occurs, to a greater extent it concerns the abdominal muscles:

Straight abdominal muscle.
Outdoor abdominal muscle.
Inner oblique abdominal muscle.
Cross muscle abdominal.
Square muscle lower back.

Muscle data also work in case you need to fix the pelvis and provide a support for the end of the leg forward.

Please note that in the process of removing the legs of the body, along with the pelvis makes a turn around the vertical axis in the direction of the support leg. For this, an inner oblique muscle is strained from the support leg, and from the opposite side - the outer, cross-oest and iliac-lumbar muscles.

The muscles that straighten the spine helps to reduce the deviation of the entire body into one of the sides (muscle, straightening the spine) and the longest muscle of the back.

In certain cases, you can observe rear muscles Neck. In addition to the already mentioned torso muscles, the following muscles need to be noted:

1. Rear staircase muscle.

2. Muscle lifting the blade.

3. Upper rear gear muscle.

4. Head muscle and belt muscle neck.

5. Semi-loving muscle head.

6. Semi-loving muscle neck.

The work of the muscles of the upper limb with the usual walking is insignificant. During the movement of the hand, the thrifter muscles are reduced in the shoulder and partly in the elbow-th joints, and during the movement back - the muscles of the extensors in these joints.

To the muscles of the shrill flexors include:

Front of the deltoid muscle.
Big thoracic muscle.
Kryvoid-shoulder muscle.
Two-headed shoulder muscles.

To the muscles of the extensor shoulder include:

The back of the deltoid muscle.
The widest muscle of the back.
Lock muscle.
Small round.
Big round.
The long head of the three-headed muscles of the shoulder.

Muscles-flexors of the shoulder joint:

Shoulder muscle.
The shoulder muscle.
Two-headed shoulder muscles.
Long extensor of the ray-tank joint.
Lock muscle.
Round Pronator.

Muscles-extensors elbow Sustava - It is a three-headed shoulder muscle.

The work of the muscles regulates the pendulum movement of the free upper limb, which is possible as a result of one alternate reduction in the front and rear parts of the deltoid muscle.

When all the listed muscles do not have problems with stretching and abbreviation, then a person walks and runs correctly and easily. Such people in the world are very few. Basically, muscles have certain defects associated with some kind of muscle sites. The swelling of the muscle site does not give it to stretch completely.

Inside muscular fiberwhich is not fully stretched, there is a shift of muscle cells in one place and a decrease in the amount of mitochondria, which produce energy for complete muscle stretching. Depending on which muscles are echoes, and which remained normal, these or other defects are left: incorrect gait, uneven legs, gait on the socks, curvature of the spine.

for example, muscles of the back, hands and legs do not move with tetraprezé (one of the forms).

Walking tasks as an important locomotor function:

Safe linear progressive movement of the body forward (main task).
Hold the vertical balance, preventing falling when driving.
Saving energy, the use of a minimum amount of energy due to its redistribution during the step cycle.
Ensuring the smoothness of movement (sharp movements may cause damage).
Adaptation of gait to eliminate painful movements and efforts.
Saving a gait with external perturbing effects or when the movement plan changes (walking stability).
Resistance to possible innervation and biomechanical disorders.
Optimization of movement, first of all, improving the efficiency of safe movement of the center of gravity with the smallest energy consumption.

Parameters walking

General parameters walking

The most common parameters characterizing walking are the line of the mass center of the body, the length of the step, the length of the double step, the ending angle of the foot, the base of the support, the speed of movement and rhythm.

The support base is the distance between two parallel lines spent through the centers of the heels parallel to the movement lines.
A short step is the distance between the point of support of the heel of one foot and the center of the heel of the contralateral leg.
The turn turn is an angle formed by the movement line and the line passing through the middle of the foot: through the center of the heel support and the point between 1 and 2 fingers.
The rhythm of walking is the ratio of the duration of the portable phase of one foot to the duration of the portable phase of a different leg.
Walking speed - the number of large steps per unit of time. Measured in units: step per minute or km. at one o'clock. For an adult - 113 steps per minute.

Biomechanics walking

Walking under various diseases study the section of medicine - clinical biomechanics; walking as a means of achieving sports results or increase the level of physical fitness studies section physical culture - Sports biomechanics. Many other sciences are studying walking: computer biomechanics, theater and ballet art, military business. The basis for studying all biomechanical sciences is a biomechanic walk of a healthy person in vivo. Walking is considered from the position of the unity of biomechanical and neurophysiological processes, which determine the functioning of the human locomotor system.

Biomechanical Structure of Walking \u003d + + +

The temporal structure of walking is usually based on the analysis of the results of the opposite. Piste allows you to register the moments of contact of various feet of the foot with a support. On this basis, the time phases are determined.

Cinematics Walking is studied using contact and contactless sensors for measuring the corners in the joints (goniometry), as well as using gyroscopes - instruments that allow you to determine the angle of inclination of the body segment relative to the gravity line. An important method in the study of kinematics walk is the cyclography method - the method of registration of the coordinates of luminous points located on the bodies segments.

The physiological parameters of walking are recorded using the methodology of electromyography - the registration of muscle biopotentials. Electromyography, compared with the data of the methodology for estimating the temporary characteristic, kinematics and walking dynamics, is the basis of biomechanical and innervative walking analysis.

Temporary Structure of walking

Simple two-contact sign

The main method of studying the temporary structure is the method of the opposite. For example, the study of walking with the use of the simplest, two-contact electrobodiography is to use contacts in the sole of special shoes, which are closed in support on the biomechanical path. The figure shows walking in special shoes with two contacts in the heel area and the front of the foot. The contact closure period is registered and analyzed by the instrument: closure of the rear contact - support on the heel, the closure of the rear and front - support on the entire foot, closing the front contact - support on the front of the foot. On this basis, a graph of the duration of each contact for each leg is built.

Temporary Stage Step

Basic research methods: cyclography, goniometry and assessment of the movement of the body segment with the help of a gyroscope.

The cyclography method allows you to register the change in the coordinates of the luminous points of the body in the coordinate system.

Goniometry is a change in the leg angle by a direct method using angular sensors and non-contact as a cyclogram analysis.

In addition, they use special gyroscopes and accelerometers sensors. The gyroscope allows you to register an angle of turning the body segment to which it is attached around one of the axes of rotation, conditionally called the countdown axis. Typically, gyroscopes are used to assess the movement of pelvic and shoulder beltAt the same time, the direction of movement in three anatomical planes - frontal, sagittal and horizontal is sequentially recorded.

The results of the results makes it possible to determine at any time the angle of rotation of the pelvis and the shoulder belt to the side, forward or backward, as well as the turn around the longitudinal axis. Special studies use accelerometers to measure in this case the tangential acceleration of the lower leg.

For a study of walking, a special biomechanical path is used, covered with an electrically conductive layer.

Important information is obtained when a cyclographical research traditional in biomechanics is carried out, which is known to be based on the registration by the method of video film photography of the coordinates of luminous markers located on the body of the test.

Dynamics walk

The dynamics of walking cannot be studied by the method of direct measurement of force, which is produced by working muscles. To date, there are no available for a wide use of the method of measuring the moment of strength of the living muscle, tendon or joint. Although it should be noted that the direct method, the implantation method of force and pressure sensors directly into the muscle or tendon is applied in special laboratories. The direct method of the torque study is also carried out when using sensors in the lower limbs and in joint endoprosthesis.

The idea of \u200b\u200bthe forces acting on a person when walking can be obtained or in determining efforts in the center of the masses of the whole body, or by registering support reactions.

Practically, muscle thrust for cyclic motion can be estimated only by solving the task of the reverse speaker. That is, knowing the speed and acceleration of the moving segment, as well as its mass and center of the masses, we can determine the force that causes this movement, following the second Newton's law (the force is directly proportional to the mass of the body and acceleration).

Real forces when walking, which can be measured is the reaction forces of the support. Comparison of the reaction force of the support and the kinematics of the step can estimate the magnitude of the tightening of the joint. The muscle torque calculation can be made on the comparison of kinematic parameters, the points of the support of the support reaction and bioelectric activity of the muscle.

Power reaction support

The reaction force of the support is the force acting on the body from the support. This force is equal and opposite to the strength that the body has on the support.

Vertical component of the reaction force support

The vertical component of the reference reaction vector.

The graph of the vertical component of the support reaction when walking normally has a form of a smooth symmetric twin-corn curve. The first maximum curve corresponds to the time interval when the height of the bodies on the support leg occurs the front push, the second maximum (rear push) reflects the active repulsion of the leg from the supporting surface and causes the body to move upwards, and towards the support limb. Both maxima are located above the level of body weight and are approximately 100% of the weight of the body, at a slow pace, at an arbitrary temperature of 120%, with a fast - 150% and 140%.

Longitudinal component of the reaction force support

Longitudinal component of the reference reaction vector This is, in fact, cutting force equal to the power of friction, which keeps the stop from the front-hand slip. The figure shows a graph of the dependence of the longitudinal support reaction, depending on the duration of the step cycle, with a fast walking pace (orange curve), at an average pace (purple) and slow pace (blue).

Point of Application Power Support

The point of the reaction of the support vector on the foot is differently called the pressure center. This is important in order to know where the point of application of the forces acting on the body from the support is located. When studying on the power platform, this point is called the point of application of the reaction force of the support.

Trajectory reaction force support

The work of extensor muscle is the main power source to move the common center of mass. The activity of the muscles of the extensors is also due to the need to slow down the movement of the segments in the transfer phase. Reducing the muscles of the bends is aimed at correcting the position or movement of the limb to the portable phase. Under the usual walking conditions, the corrective muscle function is minimal. A straight muscle in the four-headed thigh ensures the drill shock depreciation and the subsequent extension in the knee joint in the support phase. A large jagged muscle ensures the extension of the thigh into the support phase. The calf muscle is repulsion from the supporting surface and the vertical movement of the common center of mass. Passed bends - regulation of the speed of movement in the knee joint. Front tibial - foot position correction.

The alternation of various muscle activity modes contains a certain biomechanical meaning: during the inferior operation, the muscle tension and its reflex activation increase, the kinetic energy goes into the potential energy of the elastic deformation of the muscles. In this case, the effectiveness of the inferior (negative) work of the muscles exceeds 2-9 times the efficiency of their overcoming (positive) work.

During the overcoming muscle mode, it produces mechanical work, while the potential energy of the elastic deformation of the muscles turns into the kinetic energy of the whole body or its separate parts. At first glance, overcoming the mode of operation of the muscles causes the occurrence and acceleration of movements, and the inferidious mode is their slowdown or termination. In fact, the inferior activity mode of muscles has a deeper content. "When a person's body when walking has already acquired a known speed, the inhibition of the movements of a single link leads to the redistribution of the kinetic moment and, consequently, to accelerate the movements of the adjacent link. Due to the multi-part structure of the motor system, such an indirect method of controlling movements is often becoming energetically more profitable than straight, for it allows you to better utilize the previously accumulated kinetic energy. "

Basic biomechanical phases

Analysis of kinematics, reference reactions and muscle works of different parts of the body convincingly indicates that during the walking cycle there is a regular change of biomechanical events. "Walking healthy people, despite a number of individual features, has a typical and stable biomechanical and innervational structure, that is, a certain spatial-temporal characteristic of movements and muscle work."

A full cycle of walking - a period of a double step - it is composed for each leg from the support phase and phase of the limb.

When walking, a person consistently relies on one one, then on another leg. This foot is called reference. The contralateral foot at that moment is taken forward (this is a portable foot). The period of transfer of the leg is called the "transfer phase". A full cycle of walking - a period of a double step - it is composed for each leg from the support phase and phase of the limb. In support period, the active muscular force of the limbs creates dynamic shocks, reporting the center of gravity of the body acceleration necessary for the translational movement. When walking, at an average pace, the support phase lasts approximately 60% of the double-step cycle, the transfer phase is approximately 40%.

The beginning of the double step is taken to consider the moment of contact of the heel with the support. Normally landing the heel is carried out on its outdoor department. From this point on, this (right) foot is considered support. Otherwise, this phase is called the front impetus - the result of the interaction of gravity of a moving person with a support. At the same time, the support reaction occurs on the plane, the vertical component of which exceeds the mass of the human body. The hip joint is in the position of bending, the foot is straightened in the knee joint, the stop in the position of light rebar. The next phase of walking is a support for the entire foot. The body weight is distributed on the front and rear layout. Another, in this case - left leg, Keeps contact with support. Hip joint Keeps the position of bending, the knee is fitted, soften the power of the body inertia, the stop takes the average position between the rear and plantar bending. Then the shin leans forward, the knee is fully extended, the center of mass body is moving forward. During this period of step, the movement of the center of mass body occurs without the active participation of the muscles, due to the force of inertia. Support on the front of the foot. After about 65% of the time of the double step, at the end of the interval of the support, the body is repelled forward and up due to the active plantar bending of the foot - the rear impetus is realized. The center of the masses move forward as a result of active muscle contraction.

The following stage - the transfer phase is characterized by a leg separation and the movement of the center of mass under the influence of the inertia. In the middle of this phase, all major foot joints are in the maximum bending position. The walking cycle is completed with the point of contact of the heel with support.

In the cyclic sequence of walking moments, only one leg ("one-channel period") and both legs come into contact with the support) and both legs, when the final finite has already touched the support, and the rear has not yet broken off ("Di-Ray Phase"). With an increase in the walking pace, "DioVing Periods" is shortened and completely disappeared when switching to run. Thus, by kinematic parameters, walking on the run is characterized by the presence of a two-air phase.

Efficiency walking

The main mechanism that determines the cost effectiveness is the movement of the common center of mass.

Moving OCS, transformation of kinetic (t) and potential (E P) energy

The movement of the general center of mass (OCM) is a typical sinusoidal process with a frequency of the corresponding double step in the medioral direction, and with a twin frequency in the front-rear and vertical direction. The movement of the center of mass is determined by the traditional cyclographical method, denoting the common center of masses on the body of the tested by glowing dots.

However, it can be done easier, a mathematical manner, knowing the vertical component of the support for the reaction of the support. From the laws of the dynamics, the acceleration of the vertical movement is equal to the ratio of the reaction force to the mass of the body, the speed of vertical movement is equal to the ratio of the acceleration at the time interval, and the movement itself itself. Knowing these parameters, you can easily calculate the kinetic and potential energy of each step phase. The potential and kinetic energy curves are as it were, as it were, a mirror reflection of each other and have a phase shift in about 180 °.

It is known that the pendulum has a maximum of potential energy at the highest point and turns it into kinetic, deviating down. In this case, some of the energy is consumed for friction. During walking, already at the very beginning of the pillar period, as soon as the OCS begins to rise, the kinetic energy of our movement turns into a potential, and on the contrary, goes into kinetic when the OCM is lowered. Thus, about 65% of energy remains. Muscles must constantly compensate for the loss of energy, which is about thirty-five percent. Muscles are included to move the center of masses from lower position In the upper, felt lost energy.

The cost effectiveness is associated with minimizing the vertical movement of the common center of mass. However, an increase in the energy of a walk is inextricably linked with an increase in the amplitude of vertical movements, that is, with an increase in the speed of walking and the length of the step, the vertical component of the movement of the center of mass is inevitably increasing.

Throughout the support phase of the step, there are constant compensating movements that minimize vertical movements and provide smoothness of walking.

These movements include:

taste a pelvis relative to the support leg,
the slope of the pelvis towards the neople limb,
penate the knee of the support leg when lifting the OCS,
extension when lowering the OCS.

Parameters:	Slow temp	Slow pace	Arbitrary Temp	Accelerated Temp	Fast paced
Average speed (m / s) / (km / h)	0,61 / 2,196	0,91 / 3,276	1,43 / 5,148	1,90 / 6,840	2,28 / 8,208
Temp (step / min)	67,8	84,5	109,1	125,0	137,9
Step Length (meter)	0,51	0,6	0,74	0,84	0,88

Notes

Links

Muscles of the lower extremities

Muscles pelvis

Inner group	Large lumbar muscle · Small lumbar muscle · iliac muscle · iliac-lumbar muscle · Inner locking muscle · pear-shaped muscle
Outdoor group	Jagged muscles (large Muscle Muscle · Medium Muscle Muscle · Small Muscle Muscle) · Square Muscle Hips · Upper Twin Muscle · Lower Twin Muscle · Outdoor Cleaning Muscle · Broad Facege Through

Muscles of hips

Front group