人体下肢摆动相冗余肌力分析

为探讨人体步态的形成机理，建立了人体下肢摆动相包含髋、膝和踝关节（ＨＫＡ）的肌骨动力学模型，模型中考虑了８ 组下肢主要肌肉。引入约束最优化方法求解冗余肌力分布问题，并通过数值计算说明了关节被动力矩对冗余肌力分布解的影响。在此模型和算法的基础上，探讨摆动过程中各组肌力的变化规律及其在形成正常步态中所起的作用，并从能量角度分析了所有肌肉总能耗与摆动相周期的关系，结果表明该步态存在一个与之相对应的最低能耗摆动相周期，即存在一最佳步速

Redundant muscular force analysis of lower extremity during swing phase

To explore the gait control mechanism, a musculoskeletal dynamics model and its algorithm for determing the redundant muscular forces of lower extremity during swing phase were presented. The optimum technique was employed to determine the redundant muscular forces. The numerical results show that 1) the passive joint moments have significant influence on the optimum solution of redundant muscular forces; 2) the muscular forces during swing phase play an important role in forming a natural healthy gait; and 3) from the standpoint of energy there exists an optimum gait speed in accordance with a gait pattern.