[[abstract]]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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