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

针对现有计算肌肉力的方法中缺乏对运动过程中肌肉协同机制和肌肉力相对关系考量的问题, 提出一种基于行走过程中肌肉力相对关系与肌肉协同的肌肉力计算方法。该方法在二次优化的基础上, 将人体行走过程中一段时间的肌肉力以及不同肌肉收缩力之间的关系纳入逆动力学计算中。在所建立的肌肉骨骼模型的基础上, 利用该方法得到行走过程中下肢主要肌肉的肌肉力, 计算结果可以有效地反映人体运动规律以及行走过程中的肌肉协同机制。该计算方法可为人体运动形成机制、运动康复与训练以及仿人机器控制等提供理论依据。

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