Stefanovic Filip, Popovic Dejan B
Faculty of Electrical Engineering, University of Belgrade, Belgrade, Serbia.
IEEE Trans Neural Syst Rehabil Eng. 2009 Feb;17(1):63-9. doi: 10.1109/TNSRE.2008.2010470.
An improved biomechanical model has been implemented for use in gait simulations and functional electrical stimulation (FES). The novelty includes longitudinal bending of the foot which implements geometrical changes that appear "healthy-like" during the stance phase of gait. The simulation uses optimal control which minimizes the activation of flexor and extensor muscles, as well as the tracking error. Correspondingly, the results of the bending foot model, contrasted against a rigid foot biomechanical model, show that torques in the knee during foot contact were as much as 36.9 Nm (46.1%) lower, while muscle excitation was on average 6.1% lower. The simulation also shows that the shank angle of the bending foot model was virtually identical to that of the rigid foot model. However, this model's worth is most prevalent in its use for stance phase control in individuals who use multichannel FES. Notably, it can also be used for simulating the gait of individuals who lack ankle articulation and use an active transfemoral prosthesis.
一种改进的生物力学模型已被应用于步态模拟和功能性电刺激（FES）。其新颖之处包括足部的纵向弯曲，该弯曲实现了在步态站立阶段出现的类似健康的几何变化。该模拟使用最优控制，以最小化屈肌和伸肌的激活以及跟踪误差。相应地，与刚性足部生物力学模型相比，弯曲足部模型的结果表明，足部接触期间膝盖处的扭矩降低了多达36.9 Nm（46.1%），而肌肉兴奋平均降低了6.1%。模拟还表明，弯曲足部模型的小腿角度与刚性足部模型几乎相同。然而，该模型的价值在用于使用多通道FES的个体的站立阶段控制中最为突出。值得注意的是，它还可用于模拟缺乏踝关节活动且使用主动式经股假肢的个体的步态。
