Jamwal Prashant K, Hussain Shahid, Tsoi Yun Ho, Ghayesh Mergen H, Xie Sheng Quan
School of Electrical and Electronics Engineering, Nazarbayev University, Astana, Kazakhstan.
School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia.
Clin Biomech (Bristol). 2017 May;44:75-82. doi: 10.1016/j.clinbiomech.2017.03.010. Epub 2017 Mar 23.
A musculoskeletal model for the ankle complex is vital in order to enhance the understanding of neuro-mechanical control of ankle motions, diagnose ankle disorders and assess subsequent treatments. Motions at the human ankle and foot, however, are complex due to simultaneous movements at the two joints namely, the ankle joint and the subtalar joint. The musculoskeletal elements at the ankle complex, such as ligaments, muscles and tendons, have intricate arrangements and exhibit transient and nonlinear behaviour.
This paper develops a musculoskeletal model of the ankle complex considering the biaxial ankle structure. The model provides estimates of overall mechanical characteristics (motion and moments) of ankle complex through consideration of forces applied along ligaments and muscle-tendon units. The dynamics of the ankle complex and its surrounding ligaments and muscle-tendon units is modelled and formulated into a state space model to facilitate simulations. A graphical user interface is also developed during this research in order to include the visual anatomical information by converting it to quantitative information on coordinates.
Validation of the ankle model was carried out by comparing its outputs with those published in literature as well as with experimental data obtained from an existing parallel ankle rehabilitation robot.
Qualitative agreement was observed between the model and measured data for both, the passive and active ankle motions during trials in terms of displacements and moments.
为了增强对踝关节运动神经机械控制的理解、诊断踝关节疾病并评估后续治疗，踝关节复合体的肌肉骨骼模型至关重要。然而，由于踝关节和距下关节这两个关节同时运动，人体踝关节和足部的运动较为复杂。踝关节复合体的肌肉骨骼元件，如韧带、肌肉和肌腱，具有复杂的排列方式，并表现出瞬态和非线性行为。
本文考虑双轴踝关节结构，开发了一种踝关节复合体的肌肉骨骼模型。该模型通过考虑沿韧带和肌肉-肌腱单元施加的力，提供踝关节复合体整体力学特性（运动和力矩）的估计值。对踝关节复合体及其周围韧带和肌肉-肌腱单元的动力学进行建模，并将其公式化为状态空间模型以方便模拟。在本研究过程中还开发了一个图形用户界面，以便通过将视觉解剖信息转换为坐标上的定量信息来纳入这些信息。
通过将踝关节模型的输出与文献中发表的结果以及从现有的并行踝关节康复机器人获得的实验数据进行比较，对该模型进行了验证。
在试验期间，就位移和力矩而言，模型与被动和主动踝关节运动的测量数据之间观察到定性一致性。
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