论文部分内容阅读
根据拉格朝日分析力学原理,建立了描述和研究人体步态问题的模型。这是一种初值问题的近似处理,即从肢体角度和速度两个初始条件以及外加的关节力矩这些系统输入出发,来解决模型整个动力学的问题。人体模型由七块组成,其中两下肢各为完整的三块,头、上肢、躯干合为一块,两腿各有髋、膝、踝共六个关节。为了揭示该模型的特点,我们根据步态实验室的测定,得到一系列初始条件和关节力矩的不同数据,对这些数据进行较小的调整,就可显示该模型在正常步行周期中的改进情况,若对数据加以一定的干扰,则显示出非正常的步态情况。我们希望这个模型能有助于人类步态的研究。例如,改变随时间变化的关节力矩,可以用来预测某些肌群是怎样影响步态的,因而可以对复杂的步态训练加以简化。此外还可以把这个模型作为诊断工具,预测治疗和外科手术的效果。本文的重点在于建立数学模型,而不是进行数值计算。
According to the theory of RAG analytical mechanics, a model describing and studying the human gait problem was established. This is an approximation to the initial value problem, which is to solve the problem of the overall dynamics of the model, starting from the inputs of the two initial conditions of limbs and velocities and the applied joint moments. The mannequin consists of seven blocks, of which two are the complete three lower limbs, respectively. The head, upper extremities and torso are combined together. Each of the legs has six joints, hip, knee and ankle. In order to reveal the characteristics of the model, we obtained a series of different data of initial conditions and joint moments according to the measurement of gait laboratory. Minor adjustments of these data can show the improvement of the model in normal walking cycle , If the data to be a certain interference, it shows abnormal gait situation. We hope this model can contribute to the study of human gait. For example, changing the joint torque over time can be used to predict how certain muscles affect the gait, thus simplifying complex gait training. In addition, this model can be used as a diagnostic tool to predict the effects of treatment and surgery. The focus of this article is on building a mathematical model, not on numerical calculations.