[论文解读] Three-dimensional Torques and Power of Horse Forelimb Joints at Trot

Hilary M. Clayton, Daohang Sha+1 more|arXiv (Cornell University)|Aug 19, 2011

Veterinary Equine Medical Research参考文献 13被引用 3

一句话总结

本研究采用简化杆件模型，对马匹快步时前肢关节进行了三维逆向动力学分析，计算了肘、腕、趾骨、系部及冠骨关节的3D扭矩与功率。主要发现显示，70%的总能量生成发生在支撑相，其中肘关节在支撑相贡献了77%的能量生成，在摆动相贡献了88%；趾骨关节在支撑相吸收65%的能量，腕关节在摆动相吸收74%的能量。

ABSTRACT

Reasons for Performing Study: Equine gait analysis has focused on 2D analysis in the sagittal plane, while descriptions of 3D kinetics and ground reaction force could provide more information on the Equine gait analysis. Hypothesis or Objectives: The aim of this study was to characterize the 3D torques and powers of the forelimb joints at trotting. Methods: Eight sound horses were used in the study. A full 3D torque and power for elbow, carpus, fetlock, pastern and coffin joints of right forelimb in horses at trot were obtained by calculating the inverse kinetics of simplified link segmental model. Results: Over two third of energy (70%) generated by all joints come from stance phase, and most of energy generated was by elbow joint both in stance (77%) and sway (88%) phases. Energy absorbed by all joints during stance (40%) and sway (60%) phases respectively is not a big difference. During stance phase, all most two third of energy (65%) absorbed was by fetlock joint, while over two third of energy (74%) absorbed was by carpus joint during sway phase. Conclusions & Clinical Relevance: This study presents a full 3D kinetic analysis of the relative motion of the humerus, radius, cannon, pastern and coffin segments of the forelimb at the trot. The results could provide for a more sensitive measure for kinetic analysis.

研究动机与目标

• 通过引入完整的3D动力学分析，将马匹步态分析从2D矢状面研究中拓展开来。
• 量化马匹快步时前肢各关节的3D关节扭矩及能量生成/吸收情况。
• 提升临床与生物力学评估中对马匹运动动力学分析的敏感性。
• 识别在支撑相与摆动相中负责能量传递与吸收的主要关节。

提出的方法

• 构建了简化杆件模型以表征前肢各段：肱骨、桡骨、桡骨、系部骨与冠骨。
• 应用逆向动力学方法，基于运动学与地面反作用力数据，计算3D关节扭矩与功率。
• 从八匹健康马匹在跑步机上快步运动中采集运动数据。
• 关节功率通过三个正交平面中关节扭矩与角速度的乘积计算得出。
• 对支撑相与摆动相的数据进行分析，以区分能量生成与吸收。
• 统计分析聚焦于各阶段关节扭矩与功率的大小及其在各关节间的分布特征。

实验结果

研究问题

• RQ1 在马匹快步步态中，哪些前肢关节对能量生成贡献最大？
• RQ2 能量在肘、腕、趾骨、系部及冠关节之间如何在生成与吸收之间分配？
• RQ3 各关节在支撑相与摆动相中对3D扭矩与功率的相对贡献如何？
• RQ4 能量吸收在支撑相与摆动相之间的分布有何差异？
• RQ5 肘关节在快步时整体前肢动力学行为中扮演何种角色？

主要发现

• 70%的总关节能量生成发生在支撑相，其余30%发生在摆动相。
• 肘关节在支撑相贡献了77%的能量生成，在摆动相贡献了88%，是主要贡献者。
• 在支撑相，65%的能量吸收归因于趾骨关节，而在摆动相，腕关节吸收了74%的能量。
• 能量吸收在支撑相（40%）与摆动相（60%）之间在所有关节中相对均衡。
• 腕关节是摆动相中能量吸收的主要关节，表明其具有显著的动态控制作用。
• 本研究提供了前肢关节的全面3D动力学图谱，使临床与生物力学评估马匹步态的敏感性得以提升。