融合整体法和Simulink的人体肌肉力矩动态仿真计算

Dynamic Simulation Calculation of Human Muscle Torque Based on Combination of Holistic Method and Simulink

针对穿戴式外骨骼康复医疗平台,提出了一种融合整体法和MATLAB/Simulink的人体下肢肌肉力矩动态仿真计算方法。首先将下肢外骨骼机器人与人体下肢组成人体-外骨骼系统,应用整体法对人体-外骨骼系统进行运动学和动力学分析,建立系统牛顿欧拉方程。在此基础上利用MATLAB/Simulink软件建立了系统的动态仿真模型,将动力学方程模块化嵌入到仿真模型中。对主动步态训练过程进行了仿真计算,快速、准确地求得了完整运动周期内人体髋关节与膝关节肌肉扭矩的变化规律。所得结果对康复效果的评估和康复机器人的共享控制及自适应控制提供了重要的参考依据。

Aiming at the wearable exoskeleton rehabilitation medical platform,a dynamic simulation calculation method of human lower limb muscle torque based on ensemble method and MATLAB/Simulink was proposed.The human-exoskeleton system of the lower extremity exoskeleton robot and the lower limb of the human body was constructed by the method.The kinematics and dynamics of the human-exoskeleton system were analyzed by holistic method,and the system Newton Euler equation was established.The dynamic simulation model of the system was established by using MATLAB/Simulink software,and the dynamic equations were modularly embedded into the simulation model.The human gait training process was simulated and analyzed,and the change laws of muscle torque of human hip joint and knee joint in a complet e period of motion c were obtained quickly and accurately.The results provide an important reference for the shared control and adaptive control of rehabilitation robots.