人体肌肉骨骼模型, 逆动力学计算, 肌肉协同, 肌肉力相对关系

In response to the issue of existing muscle force calculation methods lacking consideration for the muscle synergy and muscle force relationships during motions, a biomechanical calculation method based on the muscle force relationships and muscle synergy during walking is proposed. This method incorporates the muscle synergy and the relative force of muscles into inverse dynamics calculation based on the quadratic optimization. The proposed method is applied for the calculation of forces of major lower-extremity muscles of human walking. Muscle forces are obtained based on a musculoskeletal model, which effectively reflects the human motion mechanisms and muscle synergy during walking. This method provides significance for exploring the laws of human movement, biomechanical principles, and humanoid robot motion control.

human musculoskeletal model, inverse dynamics calculation, muscle synergy, muscle force relationship