弹簧赋能腓肠肌的下肢肌肉生物力学分析

Biomechanical Analysis of Lower Limb Muscles of Spring-Energized Gastrocnemius

助力外骨骼机器人可以有效解决老年人日常生活中的自理问题,减少人口老龄化对社会和家庭的影响。现行助力外骨骼机器人工作效率低的原因之一,是未能充分考虑肌肉生物力学对下肢运动状态的影响,而导致助力外骨骼机器人对人体下肢运动状态识别产生偏差。本文采用OpenSim研究肌骨参数对下肢运动状态的影响,构建人体肌骨模型,导入关节运动数据,并以腓肠肌为例,借助被动弹簧增强腓肠肌,对比增强前后的下肢肌肉受力及运动代谢情况,揭示肌肉之间的相互作用影响,为后续下肢外骨骼设计提供理论基础。

Boosting exoskeleton robots can effectively improve the self-care ability of the elderly and reduce the impact of aging on society and families.One of the reasons for the low work efficiency of the current power-assisted exoskeleton robot is that it fails to fully consider the influence of muscle biomechanics on the motion state of the lower limbs,which leads to the deviation of the power-assisted exoskeleton robot's recognition of the motion state of the human lower limbs.In this paper,OpenSim is used to study the influence of musculoskeletal parameters on the motion state of the lower limbs,build a human musculoskeletal model,import joint motion data,and take the gastrocnemius muscle as an example,strengthen the gastrocnemius muscle with the help of passive springs,and compare the force and movement metabolism of the lower limb muscles before and after the enhancement.Reveal the interaction between muscles and provide a theoretical basis for the subsequent design of lower extremity exoskeleton.