Biomechanical study of human upper limb is one of the most referenced aspects for the optimization of upper limb posture and the design of related products .Firstly,a real-time optical motion capture system was used to capture the real-time position of key points of the human body in the course of executing the specified action .The focus of the work was to calculate and deeply analyze the experimental data of the human upper limb by MATLAB software .Then,the human upper limb was simplified as a club model,and the variation value of each joint angle of the hu-man upper limb during the motion process was calculated by the cosine theorem .The dynamic joint torque was computed by the inverse dynamics and the change of main muscle force was cal-culated by the optimization analysis .Lastly,the human upper limb motion comfort was evaluated by calculating the real-time load rate of human upper limb muscles,and the motion comfort index evaluation model of human upper limb was established .The experiment result proved that the human upper limb muscles were in the comfort state when the body executed the specified action at a sitting posture .The results provide a theoretical basis for the depth analysis of human upper limb motion .%人体上肢生物力学分析对上肢动作优化和相关产品的设计具有重要意义.首先,采用实时光学动作捕捉系统采集人体在执行指定动作过程中关键点的实时位置,并使用MATLAB软件设计编写了计算方程,重点对人体上肢的实验数据进行深入分析.然后,将人体肢体简化为球棍模型,运用余弦定理反求人体上肢运动过程中各关节角度的变化值,使用逆向动力学方法求解出人体上肢关节力矩的动态变化值以及通过优化计算得到人体上肢主要肌力的变化量.最后,通过计算人体上肢肌肉的实时负荷率来评价人体上肢运动舒适性,并建立了人体上肢运动舒适指数评价模型.结果表明人体在坐姿下执行指定动作时上肢肌肉处于舒适状态.研究结果为人体上肢动作的深度分析提供了理论基础.
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