人体步态的动力学建模与仿真

Modeling and Simulation of Human Gait Dynamics

摘要:

把人体看作由13个刚体铰接所组成的多刚体系统,采用逆动力学方法建立起人体行走的动力学方程,以步态实验所得运动学数据为输入,计算出人体行走过程中各关节所受肌肉力矩、关节反作用力以及地面对人体的反作用力等动力学参数,并通过仿真分析,验证了建模方法的有效性。

Abstract:

In this paper, human body is regarded as a chain of thirteen-segment rigid-body system. Using inverse dynamics method, kinetic equations of human walking were established. Taking kinematics data got in gait lab as input variables, resultant muscular moment and reaction force in each joint and ground reaction force during walking could be calculated. The simulation results were presented to show the validity of the proposed method.