Computer simulation study of human locomotion with a three-dimensional entire-body neuro-musculo-skeletal model (I. Acquisition of normal walking)
Computer simulation study of human locomotion with a three-dimensional entire-body neuro-musculo-skeletal model (I. Acquisition of normal walking)
复制标题
DOI：
10.1299/jsmec.45.1040
复制
发表时间：
2002-12-01
期刊：
影响因子：
--
通讯作者：
Yamazaki, N
中科院分区：
文献类型：
--
作者：
Hase, K;Yamazaki, N
为了精确模拟人体的行走运动，提出了一种由神经系统和肌肉骨骼系统组成的三维全身结构模型。人体动力学由14个刚性连杆系统和60个肌肉模型来表示。神经系统由三个子系统表示：由32个神经振荡器组成的节律发生器系统、感觉反馈系统和由静态优化表示的外周系统。未知的神经元参数通过数值搜索方法进行调整，使用由机车能量效率和肌肉张力平稳性之间的混合定义的运动评价标准。该模型能够成功地生成连续的、三维的行走模式，并能在机械扰动下实现稳定行走。该模型比基于动态优化的模型更稳定，比基于相似神经元系统的前一模型更精确。
A model having a three-dimensional entire-body structure and consisting of both the neuronal system and the musculo-skeletal system was proposed to precisely simulate human walking motion. The dynamics of the human body was represented by a 14-rigid-link system and 60 muscular models. The neuronal system was represented by three sub-systems : the rhythm generator system consisting of 32 neural oscillators, the sensory feedback system, and the peripheral system expressed by static optimization. Unknown neuronal parameters were adjusted by a numerical search method using the evaluative criterion for locomotion that was defined by a hybrid between the locomotive energy efficiency and the smoothness of the muscular tensions. The model could successfully generate continuous and three-dimensional walking patterns and stabilized walking against mechanical perturbation. The walking pattern was more stable than that of the model based on dynamic optimization, and more precise than that of the previous model based on a similar neuronal system.