Using computed muscle control to generate forward dynamic simulations of human walking from experimental data
Using computed muscle control to generate forward dynamic simulations of human walking from experimental data
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DOI：
10.1016/j.jbiomech.2005.02.010
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发表时间：
2006-01-01
影响因子：
2.4
通讯作者：
Anderson, FC
中科院分区：
文献类型：
--
作者：
Thelen, DG;Anderson, FC
本研究的目的是开发一种有效的方法来产生肌肉驱动的模拟人类行走，密切再现运动学和地面反作用力的实验措施。我们首先介绍了一种残差消除算法（REA）来计算骨盆和下背部运动轨迹，以确保全身动力学和测量的地面反应之间的一致性。然后，我们使用一个计算肌肉控制（CMC）算法来改变肌肉的激励，以跟踪实验关节运动学在一个向前的动态模拟。CMC明确地解释了由激活和收缩动力学引起的肌肉力量产生的延迟，同时使用一般的静态优化框架来解决肌肉冗余。CMC被用来计算肌肉激励模式，驱动21自由度，92肌肉模型跟踪实验步态数据的10个健康的年轻人。模拟关节运动学密切跟踪实验量（平均均方根误差一般小于1度），肌肉激活的时间历程类似于肌电图记录。半周期步态的模拟可以使用大约30分钟的计算机处理时间来生成。REA和CMC的速度和准确性使得生成特定于对象的步态模拟成为可能。(c)2005爱思唯尔有限公司保留所有权利。
The objective of this study was to develop an efficient methodology for generating muscle-actuated simulations of human walking that closely reproduce experimental measures of kinematics and ground reaction forces. We first introduce a residual elimination algorithm (REA) to compute pelvis and low back kinematic trajectories that ensure consistency between whole-body dynamics and measured ground reactions. We then use a computed muscle control (CMC) algorithm to vary muscle excitations to track experimental joint kinematics within a forward dynamic simulation. CMC explicitly accounts for delays in muscle force production resulting from activation and contraction dynamics while using a general static optimization framework to resolve muscle redundancy. CMC was used to compute muscle excitation patterns that drove a 21-degrees-of-freedom, 92 muscle model to track experimental gait data of 10 healthy young adults. Simulated joint kinematics closely tracked experimental quantities (mean root mean-squared errors generally less than 1 degrees), and the time histories of muscle activations were similar to electromyographic recordings. A simulation of a half-cycle of gait could be generated using approximately 30 min of computer processing time. The speed and accuracy of REA and CMC make it practical to generate subject-specific simulations of gait. (c) 2005 Elsevier Ltd. All rights reserved.