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A High Effective Bone-Muscle Model of Upper Limb for Rehabilitation Robot

机译：康复机器人上肢的高效骨-肌肉模型

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摘要

The human body muscle and joint torque are essential part to design or estimate human-computer interaction and rehabilitation robots,but the value of them can't be measured directly.In this paper,a simplified model of upper limb was designed,a proper mathematical model was established and the movement of upper limb was analysed by using inverse dynamic theory.An efficient optimization bone-muscle model has been constructed to simulate human body movement and computed the value of the muscle forces.The simplified model was proved to be high efficiency by contrast with the whole muscle model.The determination of these parameters is very meaningful for human body movement rehabilitation.
机译：人体肌肉和关节扭矩是设计或估计人机交互和康复机器人的必不可少的部分，但它们的价值无法直接测量。本文设计了简化的上肢模型，进行了适当的数学计算建立模型并运用逆动力学理论分析上肢的运动，建立了有效的优化骨骼肌肉模型来模拟人体运动并计算出肌肉力量的值，经简化的模型证明是高效的这些参数的确定对于人体运动康复非常有意义。

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