Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system.
Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system.
复制标题
肩部动态生物力学模型：过驱动系统的基于零空间的优化。
DOI：
10.1109/robio.2009.4912981
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
D. Gillet
中科院分区：
文献类型：
--
作者：
M. Aeberhard;Y. Michellod;P. Müllhaupt;A. Terrier;D. Pioletti;D. Gillet
开发了一种新的肩部动力学模型。它由十一块肌肉组成。盂肱关节被建模为球形关节，允许三个旋转。通过分析计算围绕球形肱骨头的肌肉缠绕。肌肉力不确定的问题分两步解决。首先，使用力臂矩阵的伪逆来计算中间解，提供肌肉力（致动器）和广义力（系统）之间的映射。在第二步中，使用力臂矩阵零空间的列向量修改中间解，以验证对肌肉力的约束。这种改变肌肉力量的方法可确保精确遵循预测的运动。绑架模型计算出的关节反作用力与文献中发现的结果相当。
A new dynamical model of the shoulder has been developed. It consisted of eleven muscles. The glenohumeral joint is modeled as a spherical joint, allowing for three rotations. Muscle wrapping around a spherical humeral head is calculated analytically. The problem of indeterminated muscle forces is solved in two steps. First, an intermediate solution is calculated using the pseudo-inverse of the moment arms matrix providing the mapping between the muscle forces (actuators) and the generalized forces (system). In a second step the intermediate solution is modified using the column vectors of the moment arms matrix's null space in order to verify the constraints on the muscle forces. This approach of modifying the muscle forces assures that the predicted movement is followed precisely. The joint reaction force calculated by the model for abduction is comparable to results found in the litterature.