人体肘关节复合运动的建模及协调控制

Synergetic dynamic model of rapid human elbow joint movements

为探讨人体上肢生物力学建模的基础性问题,建立了包括肌肉肌腱动力特性和神经兴奋肌肉收缩动力学方程的肘关节系统生物力学模型,并针对该关节快速屈曲和旋前复合运动过程,采用最优控制方法进行分析计算。计算结果与实验测量结果在肌肉力矩、肌电信号和肌肉活性参数等方面均很好符合;同时利用模型分析了肌肉协调运动模式。结果表明:在复合运动过程中,神经系统会将肌肉结成不同的协同肌群,并控制3组不同的协调肌群按照特定的时序结构去执行运动的加速、制动和姿态控制。

A dynamic model of the elbow joints system was developed for human upper limbs biomechanics modeling and analysis, which combines musculotendon dynamics and muscle excitation-contraction dynamics. The model numerically analyzes the motion of a rapid flexion with pronation and supination complex movements using optimal control theory. The model was verified using experimental kinematic, torque, and electromyographic data. The synergetic movement modes of muscles were also analyzed. The results show the three groups of nervous system controlled synergetic muscles and tri-phasic activation patterns including the acceleration during the initial movement, braking of the motion, and then clamping at the final position during fast flexion at the joiut.