北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (1): 196-204.doi: 10.13700/j.bh.1001-5965.2016.0941

• 论文 • 上一篇    下一篇

基于空间混联机构的人体肩部骨骼运动模型

聂超1, 宋智斌1, 戴建生1,2   

  1. 1. 天津大学 机械工程学院, 天津 300350;
    2. 伦敦大学 国王学院, 伦敦WC2R 2LS
  • 收稿日期:2016-12-15 修回日期:2017-01-13 出版日期:2018-01-20 发布日期:2017-03-16
  • 通讯作者: 宋智斌 E-mail:songzhibin@tju.edu.cn
  • 作者简介:聂超,男,硕士研究生。主要研究方向:肩部骨骼肌肉模型、康复训练策略;宋智斌,男,博士,讲师。主要研究方向:上肢康复机器人、人机交互、生体电信号处理等;戴建生,男,博士,教授,博士生导师。主要研究方向:变胞机构、可重构机构与可重构机器人、旋量代数与旋量系理论、Origami机构、机器人与跨学科研究等。
  • 基金资助:
    国家自然科学基金(51475322,51535008)

A shoulder skeletal kinematic model based on spatial hybrid mechanism

NIE Chao1, SONG Zhibin1, DAI Jiansheng1,2   

  1. 1. School of Mechanical Engineering, Tianjin University, Tianjin 300350, China;
    2. King's College London, University of London, London WC2R 2LS, UK
  • Received:2016-12-15 Revised:2017-01-13 Online:2018-01-20 Published:2017-03-16

摘要: 为了描述人体肩部骨骼系统的运动特征,将肩胛骨与胸廓的相对运动关系定义为类似于圆柱-平面副的运动约束,建立了肩部骨骼系统的空间混联机构模型。首先定义了肩部复合体各关节的类型,并完成了肩带部分和整个肩部机构的自由度分析。然后通过定义附着于各骨骼上的局部坐标系,以齐次坐标变换矩阵和矢量法建立机构的运动分析方程,求得其关节位置的闭合解。最后为了验证该模型,以获得自肩部运动实验的骨骼姿态数据反向驱动该机构模型,从而得到肩胛骨姿态的计算结果,并与测量结果进行对比。结果表明:该机构模型能够反映肩部骨骼的运动约束关系。同时,该模型可以通过缩放处理从而用于适应不同个体的骨骼几何特征。

关键词: 肩部复合体, 肩带, 骨骼运动, 齐次坐标变换, 空间混联机构

Abstract: In order to represent the movement of the shoulder skeletal system, a spatial hybrid mechanism model is proposed, which describes the articulation between the scapula and thorax as a kinematic constraint similar to a cylinder-plane pair. Firstly, types of joints in shoulder are determined, and thus the degrees of freedom of the shoulder girdle and shoulder mechanism can be analyzed. After the definition of local coordinate systems attached to each skeleton, the vector theory method and homogeneous coordinate transformation are used to establish the position analysis equation of the shoulder mechanism, and the closed-form solutions of joint positions are obtained subsequently. Finally, to verify the validity of the mechanism model, the skeletal posture dataset obtained from a shoulder movement experiment is used to inversely drive the model, the calculation results of the scapular posture are compared with the experimental data. The results indicate that the mechanism model has achieved a good consistency in predicting the skeletal movement of the shoulder complex. Furthermore, this model can be adapted for different individuals' geometric skeletal characteristics by scaling.

Key words: shoulder complex, shoulder girdle, skeletal movement, homogeneous coordinate transformation, spatial hybrid mechanism

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