Lunar surface walking load evaluation model construction method, load determination method and system

Abstract

The invention provides a lunar surface walking load evaluation model construction method and a load determination method and system, and the method comprises the steps: determining the energy loss in the vertical direction, the energy loss in the horizontal direction and the energy stored by joints in a single gait period when a human body walks on the lunar surface based on the mass, stride and gait of the human body; determining the overall load of the human body walking on the lunar surface based on the energy loss in the vertical direction, the energy loss in the horizontal direction and the energy stored by the joints in the single gait cycle; through the implementation of the method, the lunar walking load can be quantitatively evaluated, the influence of factors such as a gait mode, uphill and downhill, gravity parameters and the like on the walking load is determined, and the result can be applied to the field of spaceflight and also can be extensively applied to the fields of sports and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of human motion measurement, and in particular to a lunar walking load assessment model construction method, a load determination method and a system. Background Art

[0002] Physical load can be considered as the consumption of the operator's physical resources by the task. Generally speaking, physical load will be generated when the operator performs physical activities. There are many factors that affect physical load, which are affected by task factors such as task intensity, posture, frequency, duration, and working environment. It is also related to the person's work ability and physical condition. Excessive physical load will not only reduce work efficiency, but also damage human health and may endanger life safety. However, if it is too small, it will not be conducive to exerting human potential and improving work efficiency. The study of physical load is not to eliminate the load, but to maintain it at an appropriate level.

[0003] Among all kinds of lunar missions, lunar walking is a basic activity and one of the most basic abilities to perform lunar missions. In lunar exploration, a large amount of lunar walking is required to complete tasks such as object handling, assembly, exploration, and maintenance. Factors such as the low gravity environment on the moon, lunar suits, and complex road conditions will affect lunar walking. Safe and efficient lunar walking is related to the success or failure of manned lunar missions. In the Apollo mission, three gaits are usually used to carry out lunar walking, including normal walking, front and back cross jumping with both feet, and parallel jumping with both feet. There are differences in walking load under different modes. At present, there is a lack of load assessment methods for lunar walking in the relevant research on physical load assessment. This section proposes a lunar walking load assessment method based on energy loss, which can assess the walking load under different gaits at the overall load level. In addition, this model can also be applied in sports and other fields. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a method for constructing a lunar walking load assessment model, comprising:

[0005] Based on human mass, stride length, and gait, determine the vertical energy loss and horizontal energy loss in a single gait cycle when the human body walks on the moon;

[0006] Based on the stride, gait and joint activity parameter data, determine the energy stored in the joints when the human body walks on the lunar surface;

[0007] The overall load of human body walking on the moon is determined based on the vertical energy loss, horizontal energy loss and energy stored in the joints within a single gait cycle.

[0008] Preferably, based on the human body mass, stride, and gait, determining the energy loss in the vertical direction within a single gait cycle when the human body walks on the lunar surface includes:

[0009] Based on the energy required for the center of mass of a human body to move up and down during walking on the lunar surface, determine the work done in the vertical direction in a single gait cycle;

[0010] Based on the work done in the vertical direction and various gaits, the energy loss of the human body in the vertical direction in each gait is determined.

[0011] Preferably, based on the human body mass, stride, and gait, determining the horizontal energy loss in a single gait cycle when the human body walks on the lunar surface includes:

[0012] Determine the work done in the horizontal direction by a human body to overcome ground friction in order to move forward and backward while walking on the moon;

[0013] The energy loss in the horizontal direction in each gait is determined based on the work done in the horizontal direction.

[0014] Preferably, the work done in the horizontal direction includes the following calculation formula:

[0015] W 水平 =Fs

[0016] Among them, W 水平 is the work done in the horizontal direction in a single gait cycle, F is the foot-ground force in the front-to-back direction during the foot-ground contact process, and s is the distance the center of mass of the human body moves during the foot-ground contact in each cycle.

[0017] Preferably, the step of determining the energy stored in the joints of a human body when walking on the lunar surface based on the stride, gait and joint activity parameter data includes:

[0018] Based on each gait during human walking, the stride length and joint damping data are obtained to calculate the energy stored in the joints of the human body when walking on the lunar surface in a single gait cycle;

[0019] The joint damping data includes: the minimum and maximum angles of knee joint bending, and knee joint damping data related to the joint angle.

[0020] Preferably, the overall load of the human body walking on the lunar surface includes the following calculation formula:

[0021] Load=Load 水平 +Load 竖直 -Load 关节

[0022] In the formula, Load is the overall load of the human body per unit distance walked; Load 水平Load is the horizontal load on the human body per unit distance walked; 竖直 Load is the vertical load on the human body per unit distance walked; 关节 The clothing stores energy and saves load on the soft joints of the lower limbs when the human body walks per unit distance.

[0023] Preferably, the gait includes: a normal gait, a hopping gait with both feet split forward and backward, and a hopping gait with both feet in parallel.

[0024] Based on the same inventive concept, the present invention also provides a lunar walking load assessment model, comprising:

[0025] An energy loss determination module, used to determine the energy loss in the vertical direction and the energy loss in the horizontal direction in a single gait cycle when a human body walks on the lunar surface based on the human body mass, stride length, and gait;

[0026] An energy storage module, used to determine the energy stored in the joints of a human body when walking on the lunar surface based on stride, gait and joint activity parameter data;

[0027] The evaluation model building module is used to determine the overall load of human walking on the lunar surface based on the vertical energy loss, horizontal energy loss and energy stored in the joints during a single gait cycle.

[0028] Based on the same inventive concept, the present invention also provides a method for determining a lunar walking load, comprising:

[0029] In a simulated lunar environment, based on lunar gait walking tests and lower limb joint damping tests, the lunar walking load assessment model was used to calculate the walking load of each person under different gait patterns and road conditions.

[0030] The walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles were averaged to obtain the walking load of the human body in various gait modes and road conditions;

[0031] Among them, the lunar surface walking load assessment model is constructed using a lunar surface walking load assessment model construction method provided by the present invention.

[0032] Preferably, the simulated lunar environment includes: taking 1 / 6 of the total weight of humans and Apollo lunar suits as the unloading target, simulating a 1 / 6g gravity environment.

[0033] Preferably, the lunar gait walking test includes:

[0034] The volunteers walked on various road conditions from the initial position based on various gaits, and each gait was measured at least 3 times, while the motion parameter data at the marked points were recorded;

[0035] Among them, road conditions include: flat ground and slope.

[0036] Preferably, the lower limb joint damping test comprises:

[0037] Bind the knee joint damping simulation tooling to the human thigh and calf;

[0038] Keep the body lying on its side and fix the body posture;

[0039] The operating force test equipment was set to the self-driven isokinetic measurement mode, the angular velocity was set to 10° / s, the joint damping test was performed in a relaxed state of the human body, and the joint activity parameter data at the marked points were recorded;

[0040] Wherein, each movement of the joint activity is measured repeatedly at least 3 times during the test process; the joint activity parameter data includes: joint damping data and joint angle data of the knee joint flexion / extension dimension.

[0041] Preferably, the marking points include: the outside of the hip joint, the outside of the knee joint, and the front and rear points of the outside of the foot.

[0042] Preferably, the method of calculating the walking load of each person under different gait patterns and road conditions using the lunar walking load assessment model includes:

[0043] Using the markers located on the lower limbs of the human body, the joint angles of the knee flexion / extension dimension during gait walking were calculated based on the lunar walking load assessment model;

[0044] The distance between two adjacent touchdowns of the front point of the right foot was used as the stride parameter of gait walking under different road conditions.

[0045] Since the hip joint is relatively close to the center of mass of the human body, the outer marking points of the hip joint can be used to calculate the vertical movement amplitude of the center of mass of the human body in different walking conditions.

[0046] The three-dimensional plantar pressure data is used to calculate the plantar force in the front-to-back and up-down directions during foot landing.

[0047] Based on the same inventive concept, the present invention also provides a lunar surface walking load determination system, comprising:

[0048] The first load determination module is used to calculate the walking load of each person under different gait modes and road conditions based on the lunar gait walking test and the lower limb joint damping test in a simulated lunar environment and using the lunar walking load evaluation model;

[0049] The second load determination module is used to average the walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles to obtain the walking load of the human body in various gait modes and road conditions;

[0050] Among them, the lunar surface walking load assessment model is constructed using a lunar surface walking load assessment model construction method provided by the present invention.

[0051] Based on the same inventive concept, the present invention also provides an electronic device, comprising: at least one processor and a memory; the memory and the processor are connected via a bus;

[0052] The memory is used to store one or more programs;

[0053] When the one or more programs are executed by the at least one processor, a method for constructing a lunar walking load assessment model provided by the present invention is implemented, and / or a method for determining a lunar walking load provided by the present invention is implemented.

[0054] Based on the same inventive concept, the present invention also provides a readable storage medium having an execution program stored thereon. When the execution program is executed, it implements a method for constructing a lunar walking load assessment model provided by the present invention, and / or implements a method for determining a lunar walking load provided by the present invention.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] The present invention provides a method for constructing a lunar surface walking load assessment model and a method for determining the lunar surface walking load, including: determining the vertical energy loss and the horizontal energy loss in a single gait cycle of a human body walking on the lunar surface based on human body mass, stride and gait; determining the energy stored in the joints of a human body walking on the lunar surface based on stride and gait; determining the overall load of a human body walking on the lunar surface based on the vertical energy loss, the horizontal energy loss and the energy stored in the joints in a single gait cycle; and being able to quantitatively assess the lunar surface walking load;

[0057] Since the present invention takes into account the energy stored in the joints when calculating the overall load, the method for determining the load using the solution provided by the invention can improve the accuracy of the quantitative evaluation of the lunar walking load;

[0058] Moreover, under the simulated low-gravity platform, the actual gravity to which the human body is subjected is still 1G. When performing various actions, physiological indicators such as human oxygen consumption and energy consumption differ from the actual situation on the lunar surface. If the commonly used physiological methods are used to evaluate the load of walking on the lunar surface, there is a risk of distorted evaluation results. Therefore, the present invention adopts a method for load evaluation based on the energy loss generated by work to avoid this risk.

[0059] Since various parameters in the lunar walking load assessment model provided by the present invention can be obtained by experimental methods, the present invention can be actually applied in engineering to support the planning and design of lunar activity missions;

[0060] At the same time, the results of the present invention can be extended to fields such as sports. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a flow chart of the method for constructing a lunar walking load assessment model of the present invention;

[0062] Figure 2 This is a functional structure diagram of the lunar walking load assessment model of the present invention;

[0063] Figure 3 This is a flow chart of the method for determining the lunar walking load of the present invention;

[0064] Figure 4 The knee joint damping simulation tooling of the present invention;

[0065] Figure 5 Schematic diagram of walking load under different gait modes and road conditions provided by the present invention (load unit: N);

[0066] Figure 6 The structure diagram of the lunar walking load determination system of the present invention;

[0067] Figure 7 This is a structural diagram of an electronic device of the present invention. DETAILED DESCRIPTION

[0068] In order to better understand the present invention, the content of the present invention is further described below in conjunction with the accompanying drawings and examples.

[0069] Embodiment 1:

[0070] like Figure 1 As shown, the present invention provides a method for constructing a lunar walking load assessment model, which introduces indicators such as human body mass, gravity parameters, plantar pressure, and stride length, analyzes the energy loss of the human body in the vertical direction, horizontal direction, and human joints from the perspective of energy loss, and assesses the overall load under various gait walking modes. Here, the gait may include: normal gait, bifurcated hopping gait, bifurcated hopping gait, etc.

[0071] Specifically, the construction of the load assessment model includes:

[0072] S1. Based on human body mass, stride length and gait, determine the energy loss in the vertical direction and the energy loss in the horizontal direction in a single gait cycle when the human body walks on the lunar surface;

[0073] 1) Vertical energy loss

[0074] During walking, the human body does work in the vertical direction, which raises the center of mass from the lowest point to the highest point. When the center of mass drops from the highest point to the lowest point, the kinetic energy of the human body in the vertical direction is 0. The work done by the human body in the vertical direction is:

[0075] W 竖直 =mgh / 6.

[0076] In addition, the vertical work done by the human body per unit distance walked is also related to the stride and gait pattern.

[0077] For split jumps and parallel jumps: Load 竖直 =W 竖直 / l.

[0078] For normal gait: Load 竖直 =2W 竖直 / l.

[0079] Among them, W 竖直 Load is the work done in the vertical direction in a single gait cycle of the human body. 竖直 is the vertical load on the human body when walking per unit distance, h is the vertical range of motion of the human body, m is the total weight of the human body and the Apollo lunar suit, and l is the stride length.

[0080] 2) Horizontal energy loss

[0081] During walking, the human body does work in the horizontal direction, which enables the human body to overcome the influence of ground friction and move forward. In a single gait cycle, the work done by the human body in the horizontal direction is:

[0082] W 水平 =Fs.

[0083] In addition, the horizontal work done by the human body per unit distance walked is also related to the stride and gait pattern.

[0084] For the gait of split hop and parallel hop: Load 水平 =W 水平 / l.

[0085] For normal gait: Load 水平 =2W 水平 / l.

[0086] Among them, W 水平 Load is the horizontal work done by the human body in a single gait cycle. 水平is the horizontal load per unit distance walked, F is the foot-ground force in the front-to-back direction during foot-ground contact, s is the distance the center of mass of the human body moves during foot-ground contact in each cycle, and l is the stride.

[0087] S2, based on the stride, gait and joint activity parameter data, determine the energy stored in the joints when the human body walks on the lunar surface;

[0088] Refer to the Apollo lunar suit, the knee joint of the lower limb is a soft joint made of flexible material. There is joint damping when the joint moves after pressurization. During the walking process, energy is stored / released through the bending / extension of the knee joint, which plays a role in saving the work done by the human body. The calculation method of joint energy storage during walking is as follows.

[0089]

[0090] For the gait of split hop and parallel hop: Load 关节 =W 关节 / l.

[0091] For normal gait: Load 关节 =2W 关节 / l.

[0092] Among them, W 关节 Load is the energy stored in the knee joint of the lower limb of the garment in a single gait cycle. 关节 is the load saved by the soft joints of the lower limbs of the clothing when the human body walks per unit distance, T is the joint damping of the human knee joint at the corresponding angle in a single gait cycle, θ is the angle of the human knee joint in a single gait cycle, θ1 and θ2 are the minimum and maximum angles of the human knee joint in a single gait cycle, respectively (unit: rad), and l is the stride.

[0093] S3. Determine the overall load of the human body walking on the lunar surface based on the vertical energy loss, horizontal energy loss and energy stored in the joints within a single gait cycle.

[0094] When walking with different gaits, the overall load of the human body per unit distance is:

[0095] Load=Load 水平 +Load 竖直 -Load 关节 .

[0096] In the formula, Load 水平 Load is the horizontal load on the human body per unit distance walked; 竖直 Load is the vertical load on the human body per unit distance walked; 关节 The load saved on the soft joints of the lower limbs by the clothing when the human body walks per unit distance.

[0097] The technical solution provided by the present invention can be used to quantitatively evaluate the walking load on the lunar surface, and evaluate the influence of factors such as gait mode, uphill and downhill, and gravity parameters on the walking load. And this achievement can be extended to fields such as sports. And the human kinematics data and plantar pressure data required in the lunar walking load evaluation model provided by the present invention can be obtained by experimental methods, so the parameter variables of the present invention are easy to obtain, convenient for engineering application, and can actually carry out engineering application to support the planning and design of lunar activity tasks.

[0098] Embodiment 2:

[0099] like Figure 2 As shown, the present invention also provides a lunar walking load assessment model, which is constructed using the method of Example 1 and includes:

[0100] An energy loss determination module, used to determine the energy loss in the vertical direction and the energy loss in the horizontal direction in a single gait cycle when a human body walks on the lunar surface based on the human body mass, stride length, and gait;

[0101] An energy storage module, used to determine the energy stored in the joints of a human body when walking on the lunar surface based on stride, gait and joint activity parameter data;

[0102] An evaluation model building module for determining the overall load of human walking on the lunar surface based on vertical energy loss, horizontal energy loss, and energy stored in joints during a single gait cycle;

[0103] The energy loss determination module includes a vertical energy loss submodule and a horizontal energy loss submodule.

[0104] The vertical energy loss submodule is specifically used for:

[0105] Based on the energy required for the center of mass of a human body to move up and down during walking on the lunar surface, determine the work done in the vertical direction in a single gait cycle;

[0106] Based on the work done in the vertical direction and various gaits, the energy loss of the human body in the vertical direction in each gait is determined.

[0107] The horizontal energy loss submodule is specifically used for:

[0108] Determine the work done in the horizontal direction by a human body to overcome ground friction in order to move forward and backward while walking on the moon;

[0109] The energy loss in the horizontal direction in each gait is determined based on the work done in the horizontal direction.

[0110] The work done in the horizontal direction includes the following calculation formula:

[0111] W 水平 =Fs

[0112] Among them, W 水平 is the work done in the horizontal direction in a single gait cycle, F is the foot-ground force in the front-to-back direction during the foot-ground contact process, and s is the distance the center of mass of the human body moves during the foot-ground contact in each cycle.

[0113] Energy storage modules, in particular for:

[0114] Based on each gait during human walking, the stride length and joint damping data are obtained to calculate the energy stored in the joints of the human body when walking on the lunar surface in a single gait cycle;

[0115] The joint damping data includes: the minimum and maximum angles of knee joint bending.

[0116] When walking with different gaits, the overall load of the human body per unit distance is:

[0117] Load=Load 水平 +Load 竖直 -Load 关节

[0118] In the formula, Load is the overall load of the human body per unit distance walked; Load 水平 Load is the horizontal load on the human body per unit distance walked; 竖直 Load is the vertical load on the human body per unit distance walked; 关节 The clothing stores energy and saves load on the soft joints of the lower limbs when the human body walks per unit distance.

[0119] Example 3

[0120] like Figure 3 As shown, the present invention also provides a method for determining a lunar walking load, which is an application of a lunar walking load assessment model constructed using the method provided in Example 1, comprising:

[0121] Step 1: In a simulated lunar environment, based on the lunar gait walking test and the lower limb joint damping test, the lunar walking load assessment model is used to calculate the walking load of each person under different gait patterns and road conditions;

[0122] Step 2, taking the average of the walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles to obtain the walking load of the human body in various gait modes and road conditions;

[0123] Here, the lunar walking load assessment model can be obtained using the method of Example 1.

[0124] (1) The lunar gait walking test in step 1 specifically includes:

[0125] Nine volunteers were tested walking on flat ground and on slopes. During the test, 1 / 6 of the total weight of the human and the Apollo lunar suit was unloaded to simulate the 1 / 6g gravity environment on the moon. In the test of lunar mobility characteristics, non-slip rubber pads were used on both flat ground and slopes.

[0126] The volunteers walked in three gaits, including normal gait, bipedal jumping gait, and bipedal jumping gait. The road conditions included flat ground and 10° slope. In each test action, the volunteers started from the initial position and walked on the flat ground and uphill at a normal pace. According to the requirements of test data accuracy, a reasonable minimum walking distance should be set when walking on flat ground and on slopes, and each action was measured three times. The test items and collected data are detailed in the table below.

[0127] Table 1 Test items and collected data of lunar surface mobility characteristics

[0128]

[0129] During the motion capture data collection process, marker points are attached to the human body, mainly including the outside of the hip joint, the outside of the knee joint, the front and back points of the outside of the foot, etc.

[0130] (2) When performing the human lower limb joint damping test in step 1, it is necessary to use a knee joint damping simulation tooling, such as Figure 4 As shown, the structure of the tooling includes: two fixed rulers 1, a rotating shaft 2 and a damper 3. The two fixed rulers 1 are connected by the rotating shaft 2. The damper 3 is set in the rotating shaft. The damper 3 can be a spring or other damping parts. The fixed ruler 1 is provided with a through hole 4 for passing a strap. When measuring, the damper 3 is placed at the Weizhong point on the inner side of the knee joint, and the two fixed rulers 1 are tied to the thigh and calf respectively with straps. At the same time, in order to ensure the binding is stable, Figure 4 On the basis of the fixed ruler, the length of the fixed ruler is increased, and each fixed ruler is provided with two sets of through holes and two sets of straps are passed through. Of course, this embodiment does not limit the specific form of the knee joint damping simulation tooling, as long as it can achieve the structure of simulating the knee joint damping of the Apollo moon suit, for example, the width and thickness of the fixed ruler can also be adjusted so that it can be tied to the side of the leg, etc.

[0131] (3) The lower limb joint damping test in step 1 specifically includes:

[0132] Conduct lower limb joint damping tests on three volunteers. Tie the knee joint damping simulation tooling to the human thigh and calf, then make the human body lie on its side and fix the body posture, set the operating force test equipment to the self-driven isokinetic measurement mode, and set the angular velocity to 10° / s for joint damping test. During the test, the human body is in a relaxed state, and each movement of the joint activity is measured three times. Measure and record the joint damping data and joint angle data of the knee flexion / extension dimension.

[0133] The data processing method of step 2 specifically includes

[0134] Joint angle: Use the human lower limb landmarks to calculate the joint angle of the knee flexion / extension dimension during gait.

[0135] Walking stride: The distance between two adjacent ground contact points on the front side of the right foot is used as the walking stride parameter under different working conditions.

[0136] The upward and downward movement amplitude of the human body's center of mass: Considering that the hip joint is relatively close to the human body's center of mass, the upward and downward movement amplitude of the human body's center of mass in different walking conditions is calculated using the marking points on the outside of the hip joint.

[0137] Plantar pressure in the anterior-posterior and superior-inferior directions: The three-dimensional plantar pressure data was used to calculate the average plantar force of each volunteer in the anterior-posterior and superior-inferior directions during foot contact.

[0138] Joint damping: The joint damping data of the three volunteers were averaged and the joint damping data corresponding to the joint angle were calculated.

[0139] Finally, during the lunar walking process, the walking load calculation results of the 9 volunteers under different gait patterns and road conditions are shown in Figure 5 .

[0140] Example 4

[0141] like Figure 6 As shown, in order to implement a method for determining a lunar surface walking load provided in Example 3, the present invention further provides a lunar surface walking load determination system, comprising:

[0142] The first load determination module is used to calculate the walking load of each person under different gait modes and road conditions based on the lunar gait walking test and the lower limb joint damping test in a simulated lunar environment and using the lunar walking load evaluation model;

[0143] The second load determination module is used to average the walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles to obtain the walking load of the human body in various gait modes and road conditions;

[0144] Among them, the lunar surface walking load assessment model is constructed using a lunar surface walking load assessment model construction method provided in Example 1 of the present invention.

[0145] Example 5

[0146] like Figure 7 As shown, the present invention also provides an electronic device, which may be a computer device, a single-chip device, an intelligent mobile device, etc. The electronic device in this embodiment may include a processor, a memory, a transceiver component, etc. The memory, the processor, and the transceiver component are connected via a bus; the memory may be used to store an execution program, and an exemplary execution program may include instructions; the processor is used to execute the instructions stored in the memory. The memory may also be used to store data, which may be called and / or modified when the instructions are executed.

[0147] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in a storage medium to implement corresponding method flows or corresponding functions, so as to implement a method for constructing a lunar walking load assessment model in the above-mentioned embodiment, and / or the steps of a method for determining a lunar walking load.

[0148] Example 6

[0149] Based on the same inventive concept, the present invention also provides a readable storage medium, specifically an electronic device readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the storage medium here can include both built-in storage media in electronic devices and, of course, extended storage media supported by electronic devices. The storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by a processor are also stored in the storage space, and these instructions can be one or more execution programs (including program codes). It should be noted that the storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor loads and executes one or more instructions stored in the storage medium, which can implement a method for constructing a lunar surface walking load assessment model in the above-mentioned embodiment, and / or a step of a method for determining a lunar surface walking load.

[0150] Obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0151] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0152] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0153] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0155] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the scope of the claims of the present invention to be approved.

Claims

1. A method for constructing a lunar walking load assessment model, characterized in that: include: Based on human mass, stride length, and gait, determine the vertical energy loss and horizontal energy loss in a single gait cycle when the human body walks on the moon; Based on the stride, gait and joint activity parameter data, determine the energy stored in the joints when the human body walks on the lunar surface; The overall load of human body walking on the moon is determined based on the vertical energy loss, horizontal energy loss and energy stored in the joints within a single gait cycle.

2. The model building method according to claim 1, characterized in that: Based on human mass, stride length, and gait, determine the vertical energy loss of a human body in a single gait cycle when walking on the lunar surface, including: Based on the energy required for the center of mass of a human body to move up and down during walking on the lunar surface, determine the work done in the vertical direction in a single gait cycle; Based on the work done in the vertical direction and various gaits, the energy loss of the human body in the vertical direction in each gait is determined.

3. The model building method according to claim 1, characterized in that: Based on human mass, stride length, and gait, determine the horizontal energy loss of a human body in a single gait cycle when walking on the lunar surface, including: Determine the work done in the horizontal direction by a human body to overcome ground friction in order to move forward and backward while walking on the moon; Determine the energy loss in the horizontal direction in each gait based on the work done in the horizontal direction; Preferably, the work done in the horizontal direction includes the following calculation formula: W 水平 =Fs Among them, W 水平 is the work done in the horizontal direction in a single gait cycle, F is the foot-ground force in the front-to-back direction during the foot-ground contact process, and s is the distance the center of mass of the human body moves during the foot-ground contact in each cycle.

4. The model building method according to claim 1, characterized in that: The method of determining the energy stored in the joints of a human body when walking on the lunar surface based on the stride, gait and joint activity parameter data includes: Based on each gait during human walking, the stride length and human joint damping data are obtained to calculate the energy stored in the joints during lunar walking in a single gait cycle; The human joint damping data includes: the minimum and maximum angles of knee joint bending, and knee joint damping data related to the joint angle; Preferably, the overall load of the human body walking on the lunar surface includes the following calculation formula: Load=Load 水平 +Load 竖直 -Load 关节 In the formula, Load is the overall load of the human body per unit distance walked; Load 水平 Load is the horizontal load on the human body per unit distance walked; 竖直 It is the vertical load of the human body when walking per unit distance; Load 关节 The load that the clothing stores energy saving in the soft joints of the lower limbs per unit distance walked by the human body; Preferably, the gait includes: a normal gait, a hopping gait with both feet split forward and backward, and a hopping gait with both feet in parallel.

5. A lunar walking load assessment model, characterized in that: include: An energy loss determination module, used to determine the energy loss in the vertical direction and the energy loss in the horizontal direction in a single gait cycle when a human body walks on the lunar surface based on the human body mass, stride length, and gait; An energy storage module, used to determine the energy stored in the joints of a human body when walking on the lunar surface based on stride, gait and joint activity parameter data; The evaluation model building module is used to determine the overall load of human walking on the lunar surface based on the vertical energy loss, horizontal energy loss and energy stored in the joints during a single gait cycle.

6. A method for determining lunar surface walking load, characterized in that: include: In a simulated lunar environment, based on lunar gait walking tests and lower limb joint damping tests, the lunar walking load assessment model was used to calculate the walking load of each person under different gait patterns and road conditions. The walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles were averaged to obtain the walking load of the human body in various gait modes and road conditions; Wherein, the lunar walking load assessment model is constructed using a lunar walking load assessment model construction method described in any one of claims 1-5.

7. The determination method according to claim 6, characterized in that: The simulated lunar environment includes: taking 1 / 6 of the total weight of the human and the Apollo lunar suit as the unloading target, simulating a 1 / 6g gravity environment; Preferably, the lunar gait walking test includes: The volunteers walked on various road conditions from the initial position based on various gaits, and each gait was measured at least 3 times, while the motion parameter data at the marked points were recorded; Among them, the road conditions include: flat ground and slope; Preferably, the lower limb joint damping test comprises: Bind the knee joint damping simulation tooling to the human thigh and calf; Keep the body lying on its side and fix the body posture; The operating force test equipment was set to the self-driven isokinetic measurement mode, the angular velocity was set to 10° / s, the joint damping test was performed in a relaxed state of the human body, and the joint activity parameter data at the marked points were recorded; Wherein, each movement of the joint activity is measured at least 3 times during the test; the joint activity parameter data includes: joint damping data and joint angle data of the knee joint flexion / extension dimension; Preferably, the marking points include: the outside of the hip joint, the outside of the knee joint, and the front and rear points of the outside of the foot; Preferably, the method of calculating the walking load of each person under different gait patterns and road conditions using the lunar walking load assessment model includes: Using the markers located on the lower limbs of the human body, the joint angles of the knee flexion / extension dimension during gait walking were calculated based on the lunar walking load assessment model; The distance between two adjacent touchdowns of the front point of the right foot was used as the stride parameter of gait walking under different road conditions. Using the marker points on the outside of the hip joint, calculate the vertical movement amplitude of the human body's center of mass under different walking conditions; The three-dimensional plantar pressure data is used to calculate the plantar force in the front-to-back and up-down directions during foot landing.

8. A lunar surface walking load determination system, characterized in that: include: The first load determination module is used to calculate the walking load of each person under different gait modes and road conditions based on the lunar gait walking test and the lower limb joint damping test in a simulated lunar environment and using the lunar walking load evaluation model; The second load determination module is used to average the walking load data of multiple volunteers in various gait modes and road conditions in multiple cycles to obtain the walking load of the human body in various gait modes and road conditions; Wherein, the lunar walking load assessment model is constructed using a lunar walking load assessment model construction method described in any one of claims 1-7.

9. An electronic device, characterized in that: include: at least one processor and memory; The memory and the processor are connected via a bus; The memory is used to store one or more programs; When the one or more programs are executed by the at least one processor, a method for constructing a lunar walking load assessment model as described in any one of claims 1 to 4 is implemented, and / or a method for determining a lunar walking load as described in any one of claims 6 to 7 is implemented.

10. A readable storage medium, characterized in that: An execution program is stored thereon, the execution program being When executed, a method for constructing a lunar walking load assessment model as described in any one of claims 1 to 4 is implemented. And / or, implement a method for determining lunar walking load as described in any one of claims 6 to 7.

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