Loaded walking with a rucksack results in both gravitational and inertial forces of the load that must be borne by human carriers. The inertial force may be the source of metabolic burden and musculoskeletal injuries. This paper presents a lightweight backpack with a disturbance observer-based acceleration control to minimize the inertial force. The backpack was evaluated by seven participants walking on a treadmill at 5 km h ⁻¹ with a 19.4 kg load. Three experimental conditions were involved, including walking with a locked load (LOCKED), with an acceleration-controlled load (ACTIVE) using the designed backpack and walking with the same load using a rucksack (RUCKSACK). Our results showed that the ACTIVE condition reduces the load acceleration by 98.5% on average, and reduce the gross metabolic power by 8.0% and 11.0% as compared to LOCKED and RUCKSACK conditions respectively. The results demonstrate that the proposed active backpack can improve the loaded walking economy compared with a conventional rucksack in level-ground walking.

中文翻译：

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使背包的垂直加速度最小的背包提高了人类行走的经济性

带背囊的载重步行会导致载重物的重力和惯性力同时由人类承运人承担。惯性力可能是代谢负担和肌肉骨骼损伤的来源。本文提出了一种轻型背包，带有基于干扰观测器的加速控制，以最大程度地减小惯性力。七名参与者在5 km h ^-1的跑步机上行走时对背包进行了评估 负载为19.4公斤。涉及三个实验条件，包括使用设计的背包以锁定负载（LOCKED）行走，以加速度控制的负载（ACTIVE）以及以帆布背包（RUCKSACK）以相同的负载行走。我们的结果表明，与“锁定”和“背包”条件相比，“活动”条件平均将负载加速度降低了98.5％，并将总新陈代谢能力降低了8.0％和11.0％。结果表明，与传统的在地上行走的背包相比，本实用新型的活动背包可以提高步行的负荷经济性。