Komura Taku, Nagano Akinori, Leung Howard, Shinagawa Yoshihisa
City University of Hong Kong, 83 Tat Chee Ave, Kowloon, Hong Kong.
IEEE Trans Biomed Eng. 2005 Sep;52(9):1502-13. doi: 10.1109/TBME.2005.851530.
In this paper, we propose a new method to simulate human gait motion when muscles are weakened. The method is based on the enhanced version of three-dimensional linear inverted pendulum model that is used for generation of gait in robotics. After the normal gait motion is generated by setting the initial posture and the parameters that decide the trajectories of the center of mass and angular momentum, the muscle to be weakened is specified. By minimizing an objective function based on the force exerted by the specified muscle during the motion, the set of parameters that represent the pathological gait was calculated. Since the number of parameters to describe the motion is small in our method, the optimization process converges much more quickly than in previous methods. The effects of weakening the gluteus medialis, the gluteus maximus, and vastus were analyzed. Important similarities were noted when comparing the predicted pendulum motion with data obtained from an actual patient.
在本文中，我们提出了一种新方法，用于模拟肌肉衰弱时的人体步态运动。该方法基于用于机器人步态生成的三维线性倒立摆模型的增强版本。通过设置初始姿势以及决定质心和角动量轨迹的参数来生成正常步态运动后，指定要衰弱的肌肉。通过最小化基于指定肌肉在运动过程中施加的力的目标函数，计算出代表病态步态的参数集。由于我们的方法中描述运动的参数数量较少，因此优化过程比以前的方法收敛得更快。分析了臀中肌、臀大肌和股四头肌衰弱的影响。将预测的摆锤运动与从实际患者获得的数据进行比较时，发现了重要的相似之处。
