关键词：运动识别;混合动力模型;切换系统;最优控制
摘 要：The empirical observation of human locomotion has found considerable utility in the diagnosisof numerous neuromuscular pathologies. Unfortunately without the construction of a dynamical system model of the measured gait, the e ectualness of these observations isrestricted to just the existing diagnostic variety rather than the prediction of potential instabilities in gait or guiding the construction of user speci c prosthetics. In order to construct adynamical system model of an observed gait in an automated fashion, one requires a familyof representations rich enough to describe the dynamics of gait and an automated procedureto select a particular representation capable of describing a given observation from thisfamily.