Amirouche F M, Ider S K, Trimble J
Department of Mechanical Engineering, University of Illinois, Chicago 60680.
J Biomech Eng. 1990 Nov;112(4):379-86. doi: 10.1115/1.2891200.
An all purpose computer algorithm used in the analysis and simulation of human locomotion is presented. The utility of the program "DYAMUS" stems from its simplicity in defining the initial configuration of the human model through a configuration graph called the "tree-array," and the handling of individual cases of human locomotion through separate sets of constraints conditions. Both the forward and inverse dynamical problems are presented together with the accommodation of kinematical experimental data. Closed-loops, linear and nonlinear springs and dampers at the joints, friction forces, and other external forces are easily incorporated. The selection of mathematical constraint equations to predict the human behavior during normal walking (gait) is presented. The intention of this paper is to emphasize how the constraints equations play a major role in the simulation of human locomotion once the dynamical equations of motion for a particular model are developed.
本文介绍了一种用于人体运动分析和模拟的通用计算机算法。“DYAMUS”程序的实用性源于其通过一种称为“树阵列”的配置图来简单定义人体模型的初始配置，以及通过单独的约束条件集来处理人体运动的个别情况。正向和逆向动力学问题以及运动学实验数据的处理都一并呈现。关节处的闭环、线性和非线性弹簧及阻尼器、摩擦力和其他外力都能轻松纳入。文中还介绍了用于预测正常行走（步态）过程中人体行为的数学约束方程的选择。本文的目的是强调，一旦为特定模型建立了动力学运动方程，约束方程在人体运动模拟中如何发挥主要作用。
