[1]邵明旭,王斐,殷腾龙,等.人体下肢生物力学建模研究进展[J].智能系统学报编辑部,2015,10(04):518-527.[doi:10.3969/j.issn.1673-4785.201503039]
 SHAO Mingxu,WANG Fei,YIN Tenglong,et al.Research progress on the human lower limb biomechanical modeling[J].CAAI Transactions on Intelligent Systems,2015,10(04):518-527.[doi:10.3969/j.issn.1673-4785.201503039]
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人体下肢生物力学建模研究进展(/HTML)
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《智能系统学报》编辑部[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年04期
页码:
518-527
栏目:
学术论文—智能系统
出版日期:
2015-08-25

文章信息/Info

Title:
Research progress on the human lower limb biomechanical modeling
作者:
邵明旭 王斐 殷腾龙 刘健
东北大学 信息科学与工程学院, 辽宁 沈阳 110819
Author(s):
SHAO Mingxu WANG Fei YIN Tenglong LIU Jian
College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
关键词:
下肢生物力学建模Lagrange方程角动量定理Hill模型仿真软件建模黑箱训练法
Keywords:
biomechanical modeling of human lower limbLagrange equationtheorem of angular momentumHill modelsimulation software modelingblack box training modeling
分类号:
TP391
DOI:
10.3969/j.issn.1673-4785.201503039
文献标志码:
A
摘要:
人体下肢生物力学建模与仿真是穿戴式外骨骼机器人系统开发的一个重要内容。对其研究所获得相关的理论与技术方法对生物动力学、康复医学、假肢及运动康复器械设计等领域的发展具有促进作用。本文以人体下肢生物力系统为研究对象,概括和总结了国内外下肢建模与仿真技术的研究现状,就目前普遍采用的基于Lagrange方程和角动量定理的多刚体模型法、仿真软件建模法、Hill三元素法、黑箱训练等方法进行了详细的分析,并对研究趋势进行了展望。本文所综述的动力学建模与仿真验证方法对实现穿戴式外骨骼机器人和谐自然人机交互设计具有重要的指导意义。
Abstract:
The research on the biomechanical modeling and simulation of human lower limbs is an important content in the development of wearable exoskeleton robots. Theoretical and technical methods derived from this research can promote the process of biomechanics, rehabilitation medicine and prosthetic/orthotic devices. This work reviews the state-of-the-art techniques for modeling and simulating biomechanics of human lower limbs and makes analysis of popular methods, such as multi-body modeling, simulation software modeling, Hill three elements modeling and black box training modeling based on Lagrange equation and theorem of angular momentum. The future prospects in this research field are also provided in this paper. The biomechanical modeling and simulating methods discussed is of great significance to the design of naturally harmonious human-robot interaction of wearable exoskeleton robots.

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备注/Memo

备注/Memo:
收稿日期:2015-03-24;改回日期:。
基金项目:中央高校基础科研业务费资助项目(120124002);辽宁省自然科学基金资助项目(2013020040).
作者简介:邵明旭,男,1993年生,硕士研究生,主要研究方向为模式识别与智能机器人;王斐,男,1974年生,副教授,博士,主要研究方向为模式识别与智能机器人。完成包括国家自然科学基金、辽宁省自然科学基金、教育部博士点基金和中国人民解放军总装备部预研项目在内的国家和省部级科研项目15项,获得辽宁省自然科学学术成果一等奖1项。发表学术论文50余篇。
通讯作者:王斐.E-mail:wangfei@ise.neu.edu.cn.
更新日期/Last Update: 2015-08-28