[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(4):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(4):518-527.[doi:10.3969/j.issn.1673-4785.201503039]
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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(4):518-527.[doi:10.3969/j.issn.1673-4785.201503039]
人体下肢生物力学建模研究进展
《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第4期
页码:
518-527
栏目:
综述
出版日期:
2015-08-25
- Title:
- Research progress on the human lower limb biomechanical modeling
- Keywords:
- biomechanical modeling of human lower limb; Lagrange equation; theorem of angular momentum; Hill model; simulation software modeling; black box training modeling
- 分类号:
- TP391
- 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.
- 参考文献/References:
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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