基于ADAMS的人体膝关节运动力学研究

ADAMS-BASED HUMAN KNEE JOINT KINEMATICS AND DYNAMICS RESEARCH

在对人体结构进行研究的基础上,分析膝关节的运动学和动力学特性。应用人体生物力学软件LifeMOD创建人体模型,创新性地对膝关节施以轴套力约束,并在ADAMS中进行动力学仿真分析,得到人体膝关节的作用力和作用力矩曲线,验证膝关节轴套力模型的准确性和实用性,为双足步行机器人、人工假肢和康复训练机器人的研究提供理论基础。

Based on the research on human body structure which analyzes knee joint′s kinematics and dynamics characteristics,the authors applies LifeMOD,a human biochemical mechanics software,to building up a human body model.A bushing constraint is applied creatively to knee joint.Dynamics simulation analysis is performed inside ADAMS to obtain the curves of the acting force and movement on human knee joint.Therefore the accuracy and practicability of the knee bushing model is verified,all of those efforts provide theoretical basis for researches on biped robots,artificial limbs and rehabilitation training robots.