运动链位姿变换坐标系肢体关节旋转助力模型

Kinematic Chain Pose Transformation Coordinate System Limb Joint Rotation Power Model

在对人体运动的分析中,关节旋转是人体运动的关键组成部分,研究肢体关节旋转助力模型提高对运动关节扩展解析能力,提高运动辅助训练水平,传统方法采用基于随机采样运动规划方法,存在对肢体关节的路标点移动路径规划不准确等问题。通过求解运动模式下的肢体全部关节的驱动作用力矩,提出一种运动链位姿变换坐标系下的肢体关节旋转助力模型建立方法。构建一种分层子维空间运动规划概念模型,保持下肢的左右脚和左右腿关节不动,设由腰部和左右手臂构成的运动链位姿变换坐标系,进行运动链位姿变换运动学设计,在运动链位姿变换坐标系下实现对肢体关节旋转助力模型改进设计。仿真结果表明,采用该模型,能有效准确地仿真计算出关节的驱动力矩,对关节力矩控制识别准确率较高,控制精度较高,对肢体受力力矩的计算和跟踪性能较好,有效指导体育训练。

In the analysis of human motion, joint rotation is the key of human motion components, improve analytical ability to extend joint motion study of the rotary power limb joint model, to improve the auxiliary training level of sports, the tradi-tional methods using random sampling method based on motion planning problems of mobile Road punctuation, path plan-ning for the limb joints is not accurate etc.. Through the drive torque to solve the motion mode of all joints of the limbs, a method is proposed to establish the model of rotating power limb joint kinematic chain pose transform coordinates. Con-struction of a dimensional space motion planning concept hierarchy model, lower limbs to keep feet and legs around the joint does not move, set consisting of the waist and the left and right arm movement chain pose transformation of coordi-nates, motion chain pose kinematics transform to realize the design, the improved design of the limb and joint rotation pow-er model in the kinematic chain pose transformation coordinate system. The simulation results show that by use of this mod-el can effectively to compute and simulate the driving torque of the joint, the joint torque control has high accuracy, high control precision, good tracking performance of computing and limb force moment, and effective guidance to the sports training.