基于混合坐标的平面生物力学模型运动学分析

I. Roupa, S. Gonçalves, Miguel Tavares da Silva
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引用次数: 0

摘要

运动学分析(KA)是生物力学系统研究中使用的强大工具,因为它允许计算模型段的方向,特定点的轨迹,关节的角位移以及其他感兴趣的变量。多体系统的运动学分析有两种方法,即正运动学(FK)和逆运动学(IK)。在第一种情况下,使用前一步计算的线性和角驱动来引导模型。然后,通过施加定义模型的运动学约束,得到一致的广义坐标。另一方面,在IK中,通过最小化实验数据与属于模型的一组点(即系统或其他兴趣点的坐标)之间的差值来计算每个段的位置和方向。这个程序允许计算模型与实验数据相拟合。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Kinematic Analysis of Planar Biomechanical Models using Mixed Coordinates
Kinematic analysis (KA) is a powerful tool used in the study of biomechanical systems, since it allows for the computation of the orientation of the model segments, trajectory of specific points, angular displacement of joints, among other variables of interest. Two approaches can be used to perform the kinematic analysis of multibody systems, namely, forward (FK) or inverse kinematics (IK). In the first case, the model is guided using linear and angular drivers calculated in a previous step. Afterwards, the consistent generalized coordinates are obtained by imposing the kinematic constraints that define the model. On the other hand, in IK the position and orientation of each segment is computed by minimizing the difference between the experimental data and a set of points belonging to the model, namely the coordinates of the system or other points of interest. This procedure allows for the fitting of the computational model to the experimental data.
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