A platform for dynamic simulation and control of movement based on OpenSim and MATLAB.
A platform for dynamic simulation and control of movement based on OpenSim and MATLAB.
复制标题
基于OpenSIM和MATLAB的动态模拟和控制动态模拟和控制的平台。
DOI：
10.1016/j.jbiomech.2012.03.016
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发表时间：
2012-05-11
影响因子：
2.4
通讯作者：
Reinbolt JA
中科院分区：
文献类型：
--
作者：
Mansouri M;Reinbolt JA
数值模拟在解决复杂的工程问题中发挥着重要作用，并有可能彻底改变医疗决策和治疗策略。在本文中，我们结合联合收割机的快速基于模型的设计，控制系统和强大的数值方法的MATLAB/Simulink与仿真和人体运动动力学的优势，通过开发一个新的接口之间的两个软件工具。OpenSim通过MATLAB S函数机制与Simulink集成，并使用开环和闭环控制系统演示了该接口。虽然开环系统使用MATLAB/Simulink单独再现OpenSim正向动力学工具，但闭环系统为OpenSim添加了反馈控制的独特功能，这是大多数人体运动仿真所必需的。手臂模型的例子被成功地用于开环和闭环的情况下。对于开环情况，模拟再现了OpenSim正向动力学工具的结果，肩部仰角的均方根（RMS）差为0.03°，手肘屈曲角的均方根（RMS）差为0.06°。MATLAB的可变步长积分器将生成前向动态仿真所需的时间从7.1 s（OpenSim）减少到2.9 s（MATLAB）。对于闭环情况，使用比例-积分-微分控制器来成功地平衡模型手上的一个极点，尽管极点上存在随机力干扰。这里介绍的新界面不仅集成了OpenSim和MATLAB/Simulink软件工具，还将允许神经科学家，生理学家，生物力学家和物理治疗师适应和生成新的解决方案作为肌肉骨骼疾病的治疗方法。
Numerical simulations play an important role in solving complex engineering problems and have the potential to revolutionize medical decision making and treatment strategies. In this paper, we combine the rapid model-based design, control systems and powerful numerical method strengths of MATLAB/Simulink with the simulation and human movement dynamics strengths of OpenSim by developing a new interface between the two software tools. OpenSim is integrated with Simulink using the MATLAB S-function mechanism, and the interface is demonstrated using both open-loop and closed-loop control systems. While the open-loop system uses MATLAB/Simulink to separately reproduce the OpenSim Forward Dynamics Tool, the closed-loop system adds the unique feature of feedback control to OpenSim, which is necessary for most human movement simulations. An arm model example was successfully used in both open-loop and closed-loop cases. For the open-loop case, the simulation reproduced results from the OpenSim Forward Dynamics Tool with root mean square (RMS) differences of 0.03° for the shoulder elevation angle and 0.06° for the elbow flexion angle. MATLAB’s variable step-size integrator reduced the time required to generate the forward dynamic simulation from 7.1 s (OpenSim) to 2.9 s (MATLAB). For the closed-loop case, a proportional–integral–derivative controller was used to successfully balance a pole on model’s hand despite random force disturbances on the pole. The new interface presented here not only integrates the OpenSim and MATLAB/Simulink software tools, but also will allow neuroscientists, physiologists, biomechanists, and physical therapists to adapt and generate new solutions as treatments for musculoskeletal conditions.
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跑步过程中肌肉对推进和支撑的贡献。
影响因子：
2.4
作者：
Hamner, Samuel R.;Seth, Ajay;Delp, Scott L.
通讯作者：
Delp, Scott L.
影响因子：
2.4
作者：
Kepple, TM;Siegel, KL;Stanhope, SJ
通讯作者：
Stanhope, SJ
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4.2
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通讯作者：
Scott, JJA
影响因子：
3.8
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通讯作者：
Delp, SL
影响因子：
4.2
作者：
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通讯作者：
de Zee, Mark