Selk Ghafari A, Meghdari A, Vossoughi G R
Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran.
Proc Inst Mech Eng H. 2009 Oct;223(7):863-74. doi: 10.1243/09544119JEIM578.
The main scope of this study is to analyse muscle-driven forward dynamics simulation of stair locomotion to understand the functional differences of individual muscles during the movement. A static optimization was employed to minimize a performance criterion based on the muscle energy consumption to resolve muscle redundancy during forward dynamics simulation. The proposed method was employed to simulate a musculoskeletal system with ten degrees of freedom in the sagittal plane and containing 18 Hill-type musculotendon actuators per leg. Simulation results illustrated that simulated joint kinematics closely tracked experimental quantities with root-mean-squared errors less than 1 degree. In addition, estimated muscle activations have a good agreement with the salient features of the electromyographic recordings of the major muscles of the lower extremity. Distribution of mechanical power for individual muscles was estimated to elucidate the muscle's contribution to body support and forward progression during stair locomotion. The accuracy and relatively high computational performance of the proposed method make it suitable to generate subject-specific simulations of various activities for individuals with movement disorders in clinical studies.
本研究的主要范围是分析楼梯行走的肌肉驱动前向动力学模拟，以了解运动过程中各肌肉的功能差异。在正向动力学模拟过程中，采用静态优化方法，基于肌肉能量消耗最小化一个性能准则，以解决肌肉冗余问题。所提出的方法用于模拟矢状面内具有十个自由度且每条腿包含18个希尔型肌肉肌腱驱动装置的肌肉骨骼系统。模拟结果表明，模拟的关节运动学紧密跟踪实验数据，均方根误差小于1度。此外，估计的肌肉激活与下肢主要肌肉的肌电图记录的显著特征具有良好的一致性。估计了各肌肉的机械功率分布，以阐明肌肉在楼梯行走过程中对身体支撑和向前推进的贡献。所提出方法的准确性和相对较高的计算性能使其适合于在临床研究中为患有运动障碍的个体生成特定于受试者的各种活动模拟。
