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]





Research progress on the human lower limb biomechanical modeling
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
SHAO Mingxu WANG Fei YIN Tenglong LIU Jian
College of Information Science and Engineering, Northeastern University, Shenyang 110819, China
biomechanical modeling of human lower limbLagrange equationtheorem of angular momentumHill modelsimulation software modelingblack box training modeling
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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更新日期/Last Update: 2015-08-28