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Developments of Multibody Dynamics System for Hummers-Shoulder Complex, Thoraco-Lumber Spine System, and Their Applications

悍马-肩关节复合体、胸腰椎系统多体动力学系统的研究进展及其应用

基本信息

批准号：
12680833
负责人：
TSUTA Toshio
金额：
$ 0.83万
依托单位：
HIROSHIMA UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2001
项目状态：
已结题

项目摘要

This research focuses on the theoretical modeling of multi-bones-joints system, driven by muscle activations. At first we formulated the continuum mechanics of skeletal muscle with evolutional constitutive law. (1) Since a joint muscle activation generates some kinds of kinematics and dynamics, such as generating angular motion of link systems, for multi-bones and multi joints system, the constraint of muscle contraction due to the neervo-activation generates the counter muscles in a joint stiffness, and some others, we formulate the evolutional constitutive law of a muscle model so that, it includes independent variables for both motion and constraint force, the sum of which determine the activation generates the counter force, applicable to equilibrate to the external joint torque, a pair contraction of the counter muscles in a joint stiffness, and some others, we formulate the evolutional constitutive law of a muscle model so that, it includes independent variables for both motion a … More nd constraint force, the sum of which determine the activation level. (2) The multi-body dynamics approach for a multiple bone-joint system driven by muscle activation has been formulated. The link element coordinates are defined in each bone, and positional vectors for the center of gravity of each bone, distance between adjacent joints, muscle positional vector are formulated and transformed to the global coordinate system. (3) The kinetic energies of the elements and potential energies stored in respective muscles and joint elements are expressed in incremental forms. Based on the updated-Lagrange method, the governing equations of motion for each link, and the dynamic equilibrium equation for each joint have been formulated and solved by prescribed constraint and applied load conditions, using the developed computer simulation system.As an actual application to the assistive technology fields of low back pain problem of thoraco-lumber spine system and pinching motion of multi-fingers hand system have been analyzed. The satisfactory concordances among them are confirmed. It is verified that the developed computer system can be satisfactorily estimate these activation dynamics of muscle, instead of traditional measuring approaches by EMG. Less

本研究的重点是肌肉驱动的多骨关节系统的理论建模。首先，我们用演化本构关系建立了骨骼肌连续介质力学模型。(1)对于多骨多关节系统，由于关节肌肉的激活产生了一些运动学和动力学，如产生连杆系统的角运动，神经激活对肌肉收缩的约束产生了关节刚度中的反肌肉等，因此，我们建立了肌肉模型的演化本构定律，它包括运动和约束力的自变量，它们的和决定了肌肉激活产生反力，适用于平衡关节外扭矩，关节刚度中的一对肌肉收缩，等等。我们建立了肌肉模型的演化本构定律，使得，它包括两个运动的独立变量a…更多的约束力，它们的总和决定了激活程度。(2)建立了肌肉驱动的多骨关节系统的多体动力学方法。在每个骨骼中定义链接元素坐标，并将每个骨骼重心的位置向量、相邻关节之间的距离、肌肉位置向量表示并转换到全局坐标系中。(3)元素的动能和储存在各个肌肉和关节元素中的势能以递增的形式表示。基于改进的拉格朗日方法，利用所开发的计算机仿真系统，在规定的约束条件和外加载荷条件下，建立和求解了各环节的运动控制方程和各关节的动力平衡方程，并作为辅助技术领域的实际应用，分析了胸腰段脊柱系统的腰痛问题和多指手系统的捏合运动。证实了它们之间令人满意的一致性。结果表明，所研制的计算机系统可以代替传统的肌电测量方法，较好地估计肌肉的这些活动动力学。较少