人体运动协调规律及其参数化描述
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摘要
人体运动协调规律的研究对于探讨人体运动机理和与人脑活动的关系有重要意义，可应用于临床诊断，康复工程，人机工程学，体育科学以及仿生机构的控制和制造等许多领域。目前对于人体运动协调规律的描述仅限于轨迹拓扑结构分析和关节角度的固定比例变化，尚不能对人体运动协调规律进行有效的量化描述。本论文针对该问题，对人体运动协调规律进行了研究，主要包括以下几个方面：
1．将Fitts定律推广到二维极坐标下，并以此为基础建立了矢状面内的人体运动质量评定方法，定义了上肢运动的难度指标、执行度指标和下肢运动的对称性指标，提出了一套能反映运动质量各方面情况且具有普遍意义的运动质量评价指标。为运动功能和运动协调能力的宏观特性的描述与评定提供了科学、客观评价的依据。
2．利用三角函数和指数函数，建立了人体关节角度之间协调元的函数描述方法。通过函数参数矩阵对人体运动协调规律和协调元进行了量化描述，为揭示人体运动控制机理提供了手段。
3．利用运动质量评定指标和函数描述方法对人体上肢触点运动进行了运动质量评定和关节角度的函数拟合。指出了触点运动中上肢终端轨迹的不变性，探讨了终端轨迹和运动质量的影响因素，定义了上肢关节角度间的功能协调元。
4．利用对称性指标和函数描述方法对人体下肢在不同条件下的正常步态进行了对称性分析和关节角度的函数拟合并进行了比较。探讨了不同路况和不同步态模式下的步态特征及其影响因素，定义了下肢关节角度之间的功能协调元。
5．利用对称性指标对人体下肢特殊步态进行了步态特征和步态对称性的比较分析。探讨了非对称步态的特征及其影响因素。
本文的研究结果为量化描述人体运动协调规律提供了有效手段，为人体运动机理的进一步研究提供了方法和思路。
本文的工作得到了国家自然科学基金（No. 59905015）和国家95科技攻关项目（No. 96-920-20-14）的资助。
Coordination analysis of human movements is of great significance in studies of human behavior mechanism and relationship with the brain. It can be widely used in clinical diagnoses, rehabilitation engineering, ergonomics, gymnastic science, bionic system control and manufacturing. However, the current researches in human coordination are limited to topological analysis and fixed joint velocity ratios, and coordination of human movements has not been described in a quantitative and very effective way. To solve this problem, the research work has been done in this dissertation includes the following aspects:
1. Fitts' Law was extended to two-dimensional polar coordinate system, and based on this, a method on human movement quality evaluation was proposed. Indices of gait symmetry, indices of difficulty and indices of performance for human upper limbs were defined and combined with other indices to form a set of systematic indices of movement quality evaluation. It provided scientific and objective bases for description and evaluation of human movement function and coordination.
2. A function description method of synergies among the human joints was proposed by using trigonometric and exponential functions. The function parameter matrices were used to quantify the coordination and synergies in human movements, which is useful for the analysis of human movement control mechanism.
3. Based on the evaluation indices and the function description method, the pointing movement quality of human upper limb was evaluated and the joints angles were fitted. The invariance of upper limb terminal was shown in the result and the affecting factors were discussed. Function synergy among the upper limb joints angles was defined by using the fitting parameter matrix.
4. Based on the indices of gait symmetry and the function description method, the symmetry of normal gaits in different conditions was analyzed and the joints angles were fitted. The gait features in different terrains or different gait patterns
were analyzed and compared, and the affecting factors discussed. Function synergy among the lower limb joints angles was defined by using the fitting parameter matrix.
5. Indices of gait symmetry were used to analyze and compare the gait features and symmetry of special human gaits, such as spanning hurdle gait and stiff knee gait. The features and the affecting factors of asymmetry gait were discussed and the motion compensation and motion equivalence were indicated in the results and discussions.
The results of the investigation not only provided an effective and quantitative description of the human movement coordination, but also provided the method and clue for the human movement mechanism analysis.
The research work is supported by NSFC (No.59905015) and the Ministry of Science and Technology (No.96-920-20-14).
1．将Fitts定律推广到二维极坐标下，并以此为基础建立了矢状面内的人体运动质量评定方法，定义了上肢运动的难度指标、执行度指标和下肢运动的对称性指标，提出了一套能反映运动质量各方面情况且具有普遍意义的运动质量评价指标。为运动功能和运动协调能力的宏观特性的描述与评定提供了科学、客观评价的依据。
2．利用三角函数和指数函数，建立了人体关节角度之间协调元的函数描述方法。通过函数参数矩阵对人体运动协调规律和协调元进行了量化描述，为揭示人体运动控制机理提供了手段。
3．利用运动质量评定指标和函数描述方法对人体上肢触点运动进行了运动质量评定和关节角度的函数拟合。指出了触点运动中上肢终端轨迹的不变性，探讨了终端轨迹和运动质量的影响因素，定义了上肢关节角度间的功能协调元。
4．利用对称性指标和函数描述方法对人体下肢在不同条件下的正常步态进行了对称性分析和关节角度的函数拟合并进行了比较。探讨了不同路况和不同步态模式下的步态特征及其影响因素，定义了下肢关节角度之间的功能协调元。
5．利用对称性指标对人体下肢特殊步态进行了步态特征和步态对称性的比较分析。探讨了非对称步态的特征及其影响因素。
本文的研究结果为量化描述人体运动协调规律提供了有效手段，为人体运动机理的进一步研究提供了方法和思路。
本文的工作得到了国家自然科学基金（No. 59905015）和国家95科技攻关项目（No. 96-920-20-14）的资助。
Coordination analysis of human movements is of great significance in studies of human behavior mechanism and relationship with the brain. It can be widely used in clinical diagnoses, rehabilitation engineering, ergonomics, gymnastic science, bionic system control and manufacturing. However, the current researches in human coordination are limited to topological analysis and fixed joint velocity ratios, and coordination of human movements has not been described in a quantitative and very effective way. To solve this problem, the research work has been done in this dissertation includes the following aspects:
1. Fitts' Law was extended to two-dimensional polar coordinate system, and based on this, a method on human movement quality evaluation was proposed. Indices of gait symmetry, indices of difficulty and indices of performance for human upper limbs were defined and combined with other indices to form a set of systematic indices of movement quality evaluation. It provided scientific and objective bases for description and evaluation of human movement function and coordination.
2. A function description method of synergies among the human joints was proposed by using trigonometric and exponential functions. The function parameter matrices were used to quantify the coordination and synergies in human movements, which is useful for the analysis of human movement control mechanism.
3. Based on the evaluation indices and the function description method, the pointing movement quality of human upper limb was evaluated and the joints angles were fitted. The invariance of upper limb terminal was shown in the result and the affecting factors were discussed. Function synergy among the upper limb joints angles was defined by using the fitting parameter matrix.
4. Based on the indices of gait symmetry and the function description method, the symmetry of normal gaits in different conditions was analyzed and the joints angles were fitted. The gait features in different terrains or different gait patterns
were analyzed and compared, and the affecting factors discussed. Function synergy among the lower limb joints angles was defined by using the fitting parameter matrix.
5. Indices of gait symmetry were used to analyze and compare the gait features and symmetry of special human gaits, such as spanning hurdle gait and stiff knee gait. The features and the affecting factors of asymmetry gait were discussed and the motion compensation and motion equivalence were indicated in the results and discussions.
The results of the investigation not only provided an effective and quantitative description of the human movement coordination, but also provided the method and clue for the human movement mechanism analysis.
The research work is supported by NSFC (No.59905015) and the Ministry of Science and Technology (No.96-920-20-14).
引文
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[9] Packer T.L., Peat M., Wyss U., et al.. Examining the elbow during functional activities. Occupational Therapy J. Res., 1990, 10(6):323-333
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[13] Rao S.S., Bontrager E.L., Gronley J.K., et al.. Three-dimensional kinematics of wheelchair propulsion. IEEE Trans. Rehab. Engng, 1996, 4(3): 152-160
[14] Van der Helm F.C.T, Veeger H.E.J. Quasi-static analysis of muscle forces in the shoulder mechanism during wheelchair propulsion. J. Biomechanics, 1996, 29(1): 39-52
[15] Anglin C., Wyss U.P. Arm motion and load analysis of sit-to-stand, stand-to-sit, cane walking and lifting. Clin. Biomechanics, 2000, 15: 441-448
[16] Mochon Simon, McMahon Thomas A. Ballistic Walking. J. Biomechanics, 1980, 13(1): 49-57
[17] Beckett R., Chong K. An evaluation of the kinematics of gait by minium energy. J. Biomechanics, 1968, 1: 147-159
[18] 董玉振. 人体步行动力学及下肢假肢的研究: [博士学位论文]. 北京： 清华大学精密仪器与机械学系，1995
[19] Murray M.P., Drought A.B., Kory K.C. Walking patterns of normal men. J. Bone. Jt. Surg., 1964, 46A(2): 335-360
[20] Cappozzo A., Leo T., Pedotti A. A general computing method for the analysis of human locomotion. J Biomechanics, 1975, 8: 307-320
[21] Siegler S., Seliktar R., Hyman W. Simulation of human gait with the aid of a simple mechanical model. J. Biomechanics, 1982, 15(6): 415-425
[22] McMahon T.A. Mechanics of locomotion. International J. Robotics Research, 1984, 3(2): 4-28
[23] Pandy M.G., Berme N. A numerical method for simulating the dynamics of human walking. J. Biomechanics, 1988, 21: 1043-1051
[24] Devita P. Effects of asymmetric load carrying on the biomechanics of walking. J. Biomechanics, 1991, 24(12): 1119-1129
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