人体典型运动生物力学仿真分析
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摘要
人体是一个极其复杂的系统,个体差异性、多样性以及活体实验的局限性,使得开展人体生物特性的研究工作十分困难。与此同时,随着经济的不断发展、人民生活水平的不断提高以及医疗条件的不断改善,人们提高自身生命质量的要求更加强烈,如何预防运动损伤的发生,提高神经性和各种骨科疾病中的诊断和处理能力,改善假体植入的效果,成为当前相关领域生物医学研究者的重要研究工作。人体生物力学研究正是从力学的角度来研究人体的生物学相关理论和运动机理,从而为临床医学和康复医学的发展提供有力的理论指导和帮助。
本文依托国家自然科学基金重点项目“中国力学虚拟人”(项目编号:30530230)和国家自然科学基金重大国际合作研究项目“亚洲人种髋、膝关节特性研究与人工髋、膝关节基本设计”(项目编号:30810103908),建立了标准人体骨肌系统三维几何模型和力学模型,构建标准人体骨肌模型与个性人体骨肌系统间的转换方法,开发一款功能比较完善的人体动力学计算及肌肉力预测软件,对人体典型行为运动进行了运动学和动力学分析,对参与运动的下肢相关肌肉的激活度进行了计算。具体内容包括:
1)利用冷冻层切图片数据通过医学图像处理技术和逆向工程法建立了标准人体骨骼的三维几何模型,并在其基础上确定了上肢和下肢肌肉的起止点的局部坐标,建立了肌肉作用力线,从而最终建立了人体骨肌系统模型。
2)规划了个性人体基本参数测量方法(包含运动测量、脚底力测量及肌电测量等),建立了基于关节坐标系的肌肉骨骼间附着点坐标转换方法及骨肌系统缩放方法,从而使标准人体骨肌系统很方便的应用于活体分析。
3)详细描述并推导了运动学、动力学参数的数值计算方法,并开发了一款多功能人体肌肉力预测软件(包含了两种肌肉力预测方法:基于反向动力学的静态优化算法和基于肌电信号的算法),该软件性能良好,具有很强的可视化功能,能够实时观察三维运动,并以曲线形式发布肌肉力预测结果。目前,该软件已完成软件著作权登记。
4)对40位自愿者的六种典型行为运动(走、跑、蹲、跪、上下楼梯),无负重或有负重状态,进行运动测量、足底力测量和肌电测量。
5)利用上述测量结果,计算了六种典型行为运动中,下肢髋、膝和踝关节的关节角,三个关节上所受到的关节力和关节力矩,主要骨骼肌的肌肉激活度,为了解的人体运动以及关节假体设计的不断完善提供科学有效的依据。
总之,本文建立了人体骨肌系统生物力学模型及相关的实验和计算方法,并对人体典型运动中,下肢运动学、动力学和肌肉激活度进行了计算与分析,模型可以广泛地应用于人体生物力学研究,为亚洲人工关节设计提供了理论基础和有益的信息。
The human body is an extremely complex system, individual differences, diversity and the limitations of in vivo experiments, making the research work about biomechanical characteristics of the human body difficult. At the same time, with the development of economy, the rising standards of people's living and the continuous improvement of medical conditions, their demand to improve quality of life themselves becomes more intense. How to prevent sports injury, improve diagnostic and treatment capacity of the neuromusculoskeletal and orthepedic disease and improve the effects of prostheses, become an important task for biomedical researchers in related fields. Biomechanical study of a human body is to study the theory of human biology and the movement mechanism from a mechanical point of view, so as to provide strong theoretical guidance and help for the development of clinics and rehabilitation.
This dissertation is based on the key project‘Mechanical virtual human of China’supported by National Natural Science Foundation of China (NSFC, No.30530230) and the key international cooperation research project ‘Research on the properties of hip and knee joints and basic design of artificial joints for Asia race’supported by NSFC (No.30810103908). The three-dimensional (3D) geometrical model and biomechanical model of standard human musculoskeletal system have been established. Then, the transform method from standard human musculoskeletal system to individual human musculoskeletal system has been constructed. The software which includes dynamical calculation and muscle force estimation has been developed. The kinematic and dynamic analyses have been carried out for human typical movement. Also, activations of the related muscles have been calculated during movement. The main contents are listed as following:
1) The 3D geometrical model of standard human skeleton has been established based on cryosectional image data using medical image processing technology and reverse engineering method. Then, the local coordinates of origin and insertion points of muscles on upper limb and lower limb have been determined. Also, the action force lines of the muscles have been constructed. Finally, the human standard musculoskeletal system has been constructed.
2) The measurements of basic parameters of individual human, which include motion capture measurement, ground reaction force, EMG measurement and so on, have been constituted. Joint coordinate system (JCS)-based method on coordinate transformation of attachment points between muscle and bone, and the scaling and match method of the musculoskeletal system have been established. Then the standard human musculoskeletal system can be applied to analyze individual easily.
3) Numerical calculation methods for kinematics and kinetic have been described in detail. A multi-functional software (including two methods: inverse dynamics-based static optimization algorithm and the EMG-based algorithm) for human muscle force estimation have been developed. The performance of this software is good. It is with strong visualization capabilities, can observe real-time three-dimensional motion and show the curve of muscle force which selected. Currently, the software is being software copyright registration.
4) The motions of 40 volunteers with six typical movements (walking, running, squatting, kneeling, stair climbing), no load or weight-bearing state, have been captured. The ground reaction force and EMG of major muscles in lower limb have been measured synchronously.
5) By using of the results obtained above, joint angles of hip, knee and ankle, joint forces and joint torques, and activations of main muscles during the six typical movements have been calculated and analyzed. These can help us to understand the human movement of such activities and provide scientific data for prosthesis design.
In short, this dissertation has stated the human musculoskeletal biomechanical model, and the related experimental and calculated methods established by us. Lower extremity kinematics, kinetics and muscle activations during typical human movement have been calculated and analyzed. The model and methods can be applied to the research of human biomechanics widely. This work can provide a theoretical basis and useful information for the design of Asian artificial joint.
本文依托国家自然科学基金重点项目“中国力学虚拟人”(项目编号:30530230)和国家自然科学基金重大国际合作研究项目“亚洲人种髋、膝关节特性研究与人工髋、膝关节基本设计”(项目编号:30810103908),建立了标准人体骨肌系统三维几何模型和力学模型,构建标准人体骨肌模型与个性人体骨肌系统间的转换方法,开发一款功能比较完善的人体动力学计算及肌肉力预测软件,对人体典型行为运动进行了运动学和动力学分析,对参与运动的下肢相关肌肉的激活度进行了计算。具体内容包括:
1)利用冷冻层切图片数据通过医学图像处理技术和逆向工程法建立了标准人体骨骼的三维几何模型,并在其基础上确定了上肢和下肢肌肉的起止点的局部坐标,建立了肌肉作用力线,从而最终建立了人体骨肌系统模型。
2)规划了个性人体基本参数测量方法(包含运动测量、脚底力测量及肌电测量等),建立了基于关节坐标系的肌肉骨骼间附着点坐标转换方法及骨肌系统缩放方法,从而使标准人体骨肌系统很方便的应用于活体分析。
3)详细描述并推导了运动学、动力学参数的数值计算方法,并开发了一款多功能人体肌肉力预测软件(包含了两种肌肉力预测方法:基于反向动力学的静态优化算法和基于肌电信号的算法),该软件性能良好,具有很强的可视化功能,能够实时观察三维运动,并以曲线形式发布肌肉力预测结果。目前,该软件已完成软件著作权登记。
4)对40位自愿者的六种典型行为运动(走、跑、蹲、跪、上下楼梯),无负重或有负重状态,进行运动测量、足底力测量和肌电测量。
5)利用上述测量结果,计算了六种典型行为运动中,下肢髋、膝和踝关节的关节角,三个关节上所受到的关节力和关节力矩,主要骨骼肌的肌肉激活度,为了解的人体运动以及关节假体设计的不断完善提供科学有效的依据。
总之,本文建立了人体骨肌系统生物力学模型及相关的实验和计算方法,并对人体典型运动中,下肢运动学、动力学和肌肉激活度进行了计算与分析,模型可以广泛地应用于人体生物力学研究,为亚洲人工关节设计提供了理论基础和有益的信息。
The human body is an extremely complex system, individual differences, diversity and the limitations of in vivo experiments, making the research work about biomechanical characteristics of the human body difficult. At the same time, with the development of economy, the rising standards of people's living and the continuous improvement of medical conditions, their demand to improve quality of life themselves becomes more intense. How to prevent sports injury, improve diagnostic and treatment capacity of the neuromusculoskeletal and orthepedic disease and improve the effects of prostheses, become an important task for biomedical researchers in related fields. Biomechanical study of a human body is to study the theory of human biology and the movement mechanism from a mechanical point of view, so as to provide strong theoretical guidance and help for the development of clinics and rehabilitation.
This dissertation is based on the key project‘Mechanical virtual human of China’supported by National Natural Science Foundation of China (NSFC, No.30530230) and the key international cooperation research project ‘Research on the properties of hip and knee joints and basic design of artificial joints for Asia race’supported by NSFC (No.30810103908). The three-dimensional (3D) geometrical model and biomechanical model of standard human musculoskeletal system have been established. Then, the transform method from standard human musculoskeletal system to individual human musculoskeletal system has been constructed. The software which includes dynamical calculation and muscle force estimation has been developed. The kinematic and dynamic analyses have been carried out for human typical movement. Also, activations of the related muscles have been calculated during movement. The main contents are listed as following:
1) The 3D geometrical model of standard human skeleton has been established based on cryosectional image data using medical image processing technology and reverse engineering method. Then, the local coordinates of origin and insertion points of muscles on upper limb and lower limb have been determined. Also, the action force lines of the muscles have been constructed. Finally, the human standard musculoskeletal system has been constructed.
2) The measurements of basic parameters of individual human, which include motion capture measurement, ground reaction force, EMG measurement and so on, have been constituted. Joint coordinate system (JCS)-based method on coordinate transformation of attachment points between muscle and bone, and the scaling and match method of the musculoskeletal system have been established. Then the standard human musculoskeletal system can be applied to analyze individual easily.
3) Numerical calculation methods for kinematics and kinetic have been described in detail. A multi-functional software (including two methods: inverse dynamics-based static optimization algorithm and the EMG-based algorithm) for human muscle force estimation have been developed. The performance of this software is good. It is with strong visualization capabilities, can observe real-time three-dimensional motion and show the curve of muscle force which selected. Currently, the software is being software copyright registration.
4) The motions of 40 volunteers with six typical movements (walking, running, squatting, kneeling, stair climbing), no load or weight-bearing state, have been captured. The ground reaction force and EMG of major muscles in lower limb have been measured synchronously.
5) By using of the results obtained above, joint angles of hip, knee and ankle, joint forces and joint torques, and activations of main muscles during the six typical movements have been calculated and analyzed. These can help us to understand the human movement of such activities and provide scientific data for prosthesis design.
In short, this dissertation has stated the human musculoskeletal biomechanical model, and the related experimental and calculated methods established by us. Lower extremity kinematics, kinetics and muscle activations during typical human movement have been calculated and analyzed. The model and methods can be applied to the research of human biomechanics widely. This work can provide a theoretical basis and useful information for the design of Asian artificial joint.
引文
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