國立台灣師範大學體育學系博士學位論文
研究生：邱靖華 指導教授：王金成
人體跑步支撐期之動力系統建立
摘 要
本研究主要目的是針對跑步支撐期動作建立人體動力系統，用以模擬跑者在支撐期間對地面的推蹬力，及身體各主要關節軸的力矩、功率與相對角動量。在研究方法上，本系統將人體關節結構，規劃成三十八個自由度的多變數系統，此外考量到未來研究上，可以應用本系統發展成為人體動作控制系統，因此採用Lagrange-Euler方程，但捨棄以往學者所用的D-H轉換矩陣，改運用一般描述齊次轉換矩陣之旋轉運算元及平移運算元，定義七型齊次轉換矩陣來進行設計，使本動力系統，既能用於人體分支體(Branching Body)系統，也能轉換為狀態空間(State Space)方程。接著應用兩部攝影機(Peak Performance)與測力板(Kislter)，測試一名受試者 (年齡：22歲；身高：1.81m；體重：75kg)跑步支撐期之相關資料，並經由本人以C++輯寫之電腦程式模擬之後，發現本動力系統確實能模擬跑者對地面的推蹬力，及人體各主要關節軸的力矩、功率與相對角動量等。
關鍵字：支撐期、矩陣、力矩、功率、角動量

Department of Physical Education National Taiwan Normal University Doctor's Thesis
Graduate Student : Chiu, Ching-Hua
Advisor: Wang, Jin-Cherng
The Study of The Dynamic Modeling For the Support Phase in Running
Abstract
The purpose of this study was to construct a human dynamic modeling system about the motion for the support phase in running. The function of this system was to simulate for the support phase the ground reaction force as well as the moment, the power , and the relative angular momentum of major body joints. As to the research methods, the structure of the body joints was claimed to be a multivariable system divided into thirty-eight degrees of freedom. In order for this system to be expanded into a human motion control system, this study adopted Lagrange-Euler equtions. But the Denavit-Hartenberg matrix used by other scholars in the past was not applied; instead, this study utilized Basic Homogeneous Rotational Matrices and Basic Homogeneous Translation Matrices to define seven-type homogeneous transformation matrix, thus making this dynamic system both applicable to branching body system and convertible into state space equations. Then one force plate (Kislter)and two cameras (Peak Performance) were used to obtain the relative data about the motion of the subject(age:22 ;height:1.81m; weight:75kg) for the support phase in running. After simulating by means of C++ programs designed in person, the findings showed that this dynamic system was really competent in simulating the ground reaction force,the moment , the power , and the relative angular momentum of major body joints.
Keywords: Support phase、Matrix、Moment、Power、Angular momentum

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