人体下蹲站起动力学建模与仿真研究

Dynamic Modeling and Simulating of Squatting-standing Action of Human Body

脑卒中患者平衡功能严重下降,完成蹲下站立的动作相当困难,因此有必要对人体下蹲站起过程进行深入的研究,并对该过程做准确的动力学建模与仿真。本文将人体简化为7刚体模型,不考虑上肢和头部的运动,建立人体下蹲站起过程坐标系,利用Lagrange方法分别求出下蹲站起过程中膝关节力矩和髋关节力矩,并利用Matlab对该数学模型进行仿真。在机械系统动力学自动分析(ADAMS)中建立人体下蹲站起几何模型,通过仿真验证了所建立Lagrange数学模型的有效性,为进一步研究下蹲站起康复训练器械提供了良好的理论参考依据。

It is very difficult for stroke patients to complete the action of squatting-standing because their equilibrium function ability has been seriously declined. It was necessary, therefore, to do a deep research on the action of human squatting-standing and to set up an accurate model and simulation. In our modeling research, the movements of up- per limbs and head was neglected, and a seven-segment model was developed to establish the coordinate system of human squatting-standing action. It calculated the knee joint moment and hip joint moment during squatting and standing by utilizing Lagrange method, and then simulated this mathematical model by utilizing Matlab. Geometric model of human squatting-standing was developed and simulated in ADAMS which proved that the established La- grange model was reasonable. It would also provide significant theoretical references for further study and develop- ment of squatting-standing rehabilitation training equipment.