GENERAL COMPUTER SIMULATION SYSTEM FOR HUMAN MOVEMENT BASED ON LINKED SEGMENT MODEL

本研究的目的是构建一个基于链接段模型的通用(通用)人体运动仿真系统。研究成果总结如下：(1)构建了模型定义文件，用于将仿真系统应用于各种环节模型，如二维肢体模型、三维全身模型等。(2)在此基础上编制了仿真系统的核心模块。该程序无需修改程序即可应用于各种连接节段模型。(3)将肌肉收缩的Hill特性引入关节力矩。将扭矩-关节角特性和扭矩-角速度特性与扭矩发生器相结合。(4)图形用户界面(GUI)与主仿真程序集成使用。(5)将最陡下降法和黄金分割搜索法与主仿真程序相结合的优化程序，最后将仿真系统应用于棒球投球过程的仿真，对最优运动进行估计。本研究项目所构建的仿真系统被认为是有用的，适合于人体运动的仿真。

THE PURPOSE OF THIS RESEARCH WAS TO CONSTRUCT A GENERAL (ALL-PURPOSE) SIMULATION SYSTEM OF HUMAN MOVEMENT BASED ON THE LINKED SEGMENT MODEL. RESEARCH RESULTS WERE SUMMARIZED AS FOLLOWS :(1) THE MODEL DEFINITION FILE WAS CONSTRUCTED FOR APPLYING THE SIMULATION SYSTEM TO THE VARIOUS LINKED SEGMENT MODEL SUCH AS TWO-DIMENSIONAL LOWER LIMB MODEL OR THREE DIMENSIONAL FULL BODY MODEL.(2) THE CORE MODULE FOR SIMULATION SYSTEM WAS PROGRAMED BASED ON THE THE MODEL DEFINITION FILE CONSTRUCTED ABOVE. THE PROGRAM COULD BE APPLIED TO THE THE VARIOUS LINKED SEGMENT MODEL WITHOUT MODIFICATION OF PROGRAM.(3) HILL-TYPE CHARACTERISTICS OF MUSCLE CONTRACTION WAS INTRODUCED INTO THE JOINT TORQUE. THE TORQUE-JOINT ANGLE CHARACTERISTIC AND TORUQE-ANGULAR VELOCITY CHARACTERISTICS WERE COMBINED WITH THE TORQUE GENERATOR.(4) GRAPHICAL USER INTERFACE (GUI) WERE INTEGRATED WITH THE MAIN SIMULATION PROGRAM FOR THE USE IN THE(5) OPTIMIZATION ROUTINE WITH BOTH THE STEEPEST DESCEND METHOD AND THE GOLDEN SECTION SEARCH METHOD WAS INTEGRATED WITH THE MAIN SIMULATION PROGRAM.FINALLY, THE SIMULATION SYSTEM WAS APPLIED FOR THE SIMULATION OF BASEBALL PITCHING AND THE OPTIMAL MOTION WAS ESTIMATED. THE SIMULATION SYSTEM CONSTRUCTED IN THE RESEARCH PROJECT WAS CONSIDERED TO BE USEFUL AND TO BE ADEQUATE FOR THE SIMULATION OF HUMAN MOTION.