Human walking consists of two major sequential events (i.e., single- and double-support phases). Although there have been many studies relating to basic principles of the each stage, how the two distinct but continuous phases interact with each other remains to be clarified. We examined the change in walking strategy with varying walking speed on a local reference frame with telescoping and tangential axes; we expect that the telescoping directional dynamics at the end of a single-support phase change with walking speed to facilitate the modulation of the push-off work during a double-support phase. The telescoping directional force and power are calculated using two methods: model simulation and kinematic configuration. The empirical walking data for eight healthy young subjects and the corresponding model parameters obtained from a data-fit optimization were used to investigate the changing trend of each factor (i.e., force and power) with the increase in speed. The resulting force at the end of the single-support phase significantly increased with the walking speed for both methods, whereas the resulting power remained nearly unchanged and was close to zero for the entire range of walking speeds. This result implies that the positive amount of the telescoping directional force at the end of the single-support phase may be a certain type of preparation for the double-support phase, which can contribute to a larger push-off.

中文翻译：

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改变步行速度的伸缩腿策略以调节力量优势。

人类行走由两个主要的连续事件（即单支撑和双支撑阶段）组成。虽然已经有很多关于每个阶段的基本原理的研究，但两个不同但连续的阶段如何相互作用仍有待澄清。我们在具有伸缩轴和切向轴的局部参考系上检查了随着步​​行速度的变化而导致的步行策略的变化；我们预计单支撑阶段结束时的伸缩方向动力学会随着步行速度而变化，以促进双支撑阶段推进工作的调制。伸缩方向力和功率使用两种方法计算：模型模拟和运动学配置。使用八名健康年轻受试者的经验步行数据和从数据拟合优化中获得的相应模型参数来研究每个因素（即力量和功率）随着速度增加的变化趋势。两种方法在单次支撑阶段结束时的合力随着步行速度的增加而显着增加，而合力几乎保持不变，并且在整个步行速度范围内都接近于零。这个结果意味着在单支撑阶段结束时的正伸缩方向力可能是双支撑阶段的某种类型的准备，这有助于更大的推出。两种方法在单次支撑阶段结束时的合力随着步行速度的增加而显着增加，而合力几乎保持不变，并且在整个步行速度范围内都接近于零。这个结果意味着在单支撑阶段结束时的正伸缩方向力可能是双支撑阶段的某种类型的准备，这有助于更大的推出。两种方法在单次支撑阶段结束时的合力随着步行速度的增加而显着增加，而合力几乎保持不变，并且在整个步行速度范围内都接近于零。这个结果意味着在单支撑阶段结束时的正伸缩方向力可能是双支撑阶段的某种类型的准备，这有助于更大的推出。