Ehsani Hossein, Rostami Mostafa, Gudarzi Mohammad
a Motion Analysis Lab., Biomechanics Department , School of Biomedical Engineering, Amirkabir University of Technology , Tehran , Iran.
Comput Methods Biomech Biomed Engin. 2016 Feb;19(3):306-319. doi: 10.1080/10255842.2015.1017722. Epub 2015 Mar 12.
Computation of muscle force patterns that produce specified movements of muscle-actuated dynamic models is an important and challenging problem. This problem is an undetermined one, and then a proper optimization is required to calculate muscle forces. The purpose of this paper is to develop a general model for calculating all muscle activation and force patterns in an arbitrary human body movement. For this aim, the equations of a multibody system forward dynamics, which is considered for skeletal system of the human body model, is derived using Lagrange-Euler formulation. Next, muscle contraction dynamics is added to this model and forward dynamics of an arbitrary musculoskeletal system is obtained. For optimization purpose, the obtained model is used in computed muscle control algorithm, and a closed-loop system for tracking desired motions is derived. Finally, a popular sport exercise, biceps curl, is simulated by using this algorithm and the validity of the obtained results is evaluated via EMG signals.
计算能够产生肌肉驱动动态模型特定运动的肌肉力模式是一个重要且具有挑战性的问题。这个问题是一个不确定问题，因此需要进行适当的优化来计算肌肉力。本文的目的是开发一个通用模型，用于计算任意人体运动中的所有肌肉激活和力模式。为了实现这个目标，使用拉格朗日 - 欧拉公式推导了用于人体模型骨骼系统的多体系统正向动力学方程。接下来，将肌肉收缩动力学添加到该模型中，得到任意肌肉骨骼系统的正向动力学。出于优化目的，将所得模型用于计算肌肉控制算法中，并推导了用于跟踪期望运动的闭环系统。最后，使用该算法模拟了一种流行的体育锻炼——二头肌卷曲，并通过肌电图信号评估所得结果的有效性。
