Generating dynamic simulations of movement using computed muscle control
Generating dynamic simulations of movement using computed muscle control
复制标题
DOI：
10.1016/s0021-9290(02)00432-3
复制
发表时间：
2003-03-01
影响因子：
2.4
通讯作者：
Delp, SL
中科院分区：
文献类型：
--
作者：
Thelen, DG;Anderson, FC;Delp, SL
由肌肉驱动的动力学模型产生协调运动的肌肉兴奋模式的计算是一个重要而具有挑战性的问题。使用动态优化来计算激励模式的计算量很大，这限制了肌肉驱动模拟的使用。本文介绍了一种称为计算肌肉控制的新算法，它使用静态优化以及前馈和反馈控制来驱动肌肉骨骼模型的运动轨迹朝向一组期望的运动学。我们通过计算一组肌肉刺激来说明算法，这些肌肉刺激驱动了30块肌肉的3自由度踏板模型，以跟踪测量的踏板运动学和力。只需要10分钟的计算机时间就可以计算出重现测量的踏板动力学的肌肉激励，这比传统的动态优化技术快了两个数量级以上。模拟的运动学与实验值在1度以内，在几乎整个曲柄循环中，模拟的踏板力与测量的踏板力都在一个标准偏差之内，计算的肌肉兴奋在时间上与测量的肌电模式相似。这种新算法的速度和精度提高了使用详细的肌肉骨骼模型来模拟和分析运动的可行性。(C)2003爱思唯尔科学有限公司。保留所有权利。
Computation of muscle excitation patterns that produce coordinated movements of muscle-actuated dynamic models is an important and challenging problem. Using dynamic optimization to compute excitation patterns comes at a large computational cost, which has limited the use of muscle-actuated simulations. This paper introduces a new algorithm, which we call computed muscle control, that uses static optimization along with feedforward and feedback controls to drive the kinematic trajectory of a musculoskeletal model toward a set of desired kinematics. We illustrate the algorithm by computing a set of muscle excitations that drive a 30-muscle, 3-degree-of-freedom model of pedaling to track measured pedaling kinematics and forces. Only 10min of computer time were required to compute muscle excitations that reproduced the measured pedaling dynamics, which is over two orders of magnitude faster than conventional dynamic optimization techniques. Simulated kinematics were within 1degrees of experimental values, simulated pedal forces were within one standard deviation of measured pedal forces for nearly all of the crank cycle, and computed muscle excitations were similar in timing to measured electromyographic patterns. The speed and accuracy of this new algorithm improves the feasibility of using detailed musculoskeletal models to simulate and analyze movement. (C) 2003 Elsevier Science Ltd. All rights reserved.