On technomorphic modelling and classification of biological joints
On technomorphic modelling and classification of biological joints
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DOI：
10.1078/1431-7613-00008
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发表时间：
2000-07-01
影响因子：
1.1
通讯作者：
Schilling, C
中科院分区：
文献类型：
--
作者：
Bögelsack, G;Karner, M;Schilling, C
生物运动系统对机器人、假肢和微机械工程师特别感兴趣。由于生物运动系统表现出高度的流动性，平滑的运动和最小的材料部署，这样的系统的分析可能有助于发明或优化技术运动系统。为了实现解释技术的转移，生物力学和工程学需要一个共同的术语。通常，参考肢体，肌肉，肌腱，关节和驱动肢体形成两个具有不同传递函数的封闭机构。施加到连杆上的力的方向受导向结构的影响。可移动连接可以通过两个刚性段之间的各向异性段的形式闭合、力闭合和顺应性来构造。刚体关节结构的十一种不同的基本变体可以根据正交坐标中可能的相对平移和旋转运动来分类。如果按其刚性部分的形式分类，生物刚体关节（diarthroses）显示出与技术关节的一些相似之处，但发生在更少的基本变体。外骨骼关节的功能可能涉及流体静力，这取决于刚性元件的结构和它们之间的连接类型。生物关节的结构分类至少应包括：1）自由度（d.o.f.），2)可能的相对运动，3）d.o.f.的变化，4)活动范围的限制，5）对外力的反应应力。从工程师的角度来看，结构表征需要额外的特征，包括封闭和引导的维护，接触的几何形状和行为，几何参数和材料特性。
Biological motion systems are of particular interest to engineers in robotics, prosthetics and micromechanics. Since biological motion systems show a high degree of mobility, smooth movements and minimal deployment of material, the analysis of such systems might help to invent or optimize technical motion systems. To enable the transfer of explanatory techniques, biomechanics and engineering need a shared terminology.Generally, a reference limb, muscles, tendons, a joint and a driven limb are forming two closed mechanisms with different transfer functions. The direction of the forces applied to links is influenced by guiding structures. Movable connections can be constructed by form closure, force closure, and compliance of an anisotropic segment between two rigid segments. Eleven different basic variants of rigid body joint structures can be classified by the possible relative translatory and rotatory movements in orthogonal co-ordinates. If classified by the form of their rigid parts, biological rigid-body joints (diarthroses) show some similarities to technical joints, but occur in fewer basic variants. The functioning of exoskeletal joints can involve hydrostatic forces, depending on the structure of the rigid elements and the type of linkage between them.Structural classification of biological joints should include at least: 1) degree-of freedom (d.o.f.), 2) possible relative movements, 3) variability of d.o.f., 4) restrictions of range of motion, 5) stress in reaction to external forces. From an engineer's viewpoint, additional features are necessary for structural characterization, including the maintenance of closure and guidance, the geometry and behaviour of contact, geometrical parameters and material properties.