具有生理学特性的高精度人体肌肉疲劳建模及其在手臂屈伸运动中的应用研究
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摘要
从肌肉的生理学角度建立肌肉疲劳模型是了解肌肉生物力学特征的重要手段,是提高人体运动模拟逼真度的有效方法。本文从钙离子的传导出发,建立了基于人体生理学特点的自适应肌肉疲劳模型,并将其运用于手臂屈伸运动模型,间接验证了该模型符合人体生理特点。该肌肉模型继承和发展了传统肌肉模型的各种优点,综合考虑了肌肉的生理横截面积、肌肉长度、收缩速度、神经元刺激以及肌钙蛋白浓度对肌肉疲劳力学特性的影响。在模型中,我们还改变了传统上把肌肉分为三种运动单位的方式,首次提出了自适应的肌肉运动单位,肌纤维的力学特性随着神经元刺激的不同而发生改变,符合人体肌肉的生理学特性,而且有效的解决传统多运动单位肌肉模型中运动单位募集排序复杂的问题。为了验证自适应肌肉疲劳模型的正确性与合理性,论文还将该模型应用于人体手臂建模,建立了人体手臂的静力学模型和动力学模型。在手臂模型中考虑了几块主要肌肉的肌力臂随肘关节运动的变化情况,并运用优化方法,将外部载荷在各肌肉间进行优化分配,解决了肌肉冗余问题。
通过对手臂模型进行仿真分析,得到了手臂在非疲劳状态下肘部输出力矩的强度曲线以及在不同的外部载荷下的疲劳特性,并用实验测量的方法测试了人体手臂在等长收缩和等速运动下肌肉的疲劳力学特性,将理论模型结果与实验测量数据比较,验证了理论模型符合人体生理学特性。论文主要从强度曲线(最大关节力矩)、等长等速运动收缩的最大维持时间以及男女肌肉不同的力学特性等方面进行比较。结果表明,各项理论预测结果与实验结果都非常接近。论文得到以下四个主要结果:(1)不管在静力学还是在动力学状态下,屈肘的关节力矩都是随着肘关节角度变化而变化的,关节力矩在70°左右最大,在两端较小;(2)最大维持时间(MET)随着最大自主收缩百分比(%MVC)的增加而减小,当%MVC大于30%时,%MVC与MET之间的关系近似线性关系;当%MVC小于30%时,两者则出现指数非线性关系;(3)屈肘力矩总体上比伸肘力矩要大,最大的屈肘力矩为最大的伸肘力矩的1.7倍;(4)男性的关节力矩是女性的两倍左右,而女性的抗疲劳程度比男性强;男女肌肉在抗疲劳特性上的差别随着外部相对载荷的减小越来越明显。论文的研究结果表明,肌肉疲劳预测模型和手臂模型不仅能够客观的反映人体肌肉与手臂的静态、动态以及疲劳等力学特征,而且能够准确的描述男女之间肌肉不同的生物力学特性,具有很强的科学价值和应用价值,可为进一步研究人体骨骼肌肉的力学特征提供有效的工具。
To simulate high-fidelity and realistic human motion,it is necessary to develop an accurate biomechanics muscle model that is able to capture fatigue with physiological characteristics.In this dissertation,a fatigue human muscle model is developed and indirectly verified via the human elbow arm flexure-extension modeling and experimentations.The fatigue muscle model is modified from an existing calcium ion transport model by including parameters for PCSA,muscle length,shortening velocity and nerve cell activation.Further,in our muscle model we hypothesize that the popularly accepted 3 types of motor unit(representing slow fatigue,fast fatigue and fatigue resistant) can be amalgamated into one single motor unit that possesses all these 3 characteristics.We termed this new approach as a self-regulating adaptive model.Except for some non-invasive situations,it is generally not viable to perform direct in vivo experiments with human muscles and thus,to verify our work,we develop a fatigue muscle human arm elbow model for checking against laboratory measurements involving human subjects.Among the information obtained are strength curves of the elbow joint torque,the maximal endurance time(MET) under varying external loadings,and fatigue characteristics of the elbow under isometric and isokinetic contractions.Extensive comparisons of the predicted results versus the experimental results are provided.Further,male and female muscle responses from our model and from experiments are compared.
The comparisons in our study can be grouped into 4 main and specific categories: (1) the elbow flexure joint torques for both static and dynamic states as a function of the elbow joint angles-we found that the maximal torque angle occurs at about 70°;(2) the MET varies inversely with the percentage maximum voluntary contraction(MVC) -at MVC＜30%,the MET exhibits an exponential drop with MVC and at MVC＞30%, the MET fiats-out to an approximately linear decrease with MVC;(3) the flexor torque is generally larger than extensor torque-the maximal flexor torque at about 1.7 times the maximal extensor torque;and(4) the ratio of the male-female maximal torque is 2 with the female muscle being more fatigue-resistant-the contrast is especially more evident in the lower relative loading range.We showed that in all eases,our theoretical predictions agree reasonably well with the experimental results.
We believe our work is very useful for the study of the human musculo-skeletal motions and biomechanies,particularly,in the field of sports and rehabilitation medicine.
通过对手臂模型进行仿真分析,得到了手臂在非疲劳状态下肘部输出力矩的强度曲线以及在不同的外部载荷下的疲劳特性,并用实验测量的方法测试了人体手臂在等长收缩和等速运动下肌肉的疲劳力学特性,将理论模型结果与实验测量数据比较,验证了理论模型符合人体生理学特性。论文主要从强度曲线(最大关节力矩)、等长等速运动收缩的最大维持时间以及男女肌肉不同的力学特性等方面进行比较。结果表明,各项理论预测结果与实验结果都非常接近。论文得到以下四个主要结果:(1)不管在静力学还是在动力学状态下,屈肘的关节力矩都是随着肘关节角度变化而变化的,关节力矩在70°左右最大,在两端较小;(2)最大维持时间(MET)随着最大自主收缩百分比(%MVC)的增加而减小,当%MVC大于30%时,%MVC与MET之间的关系近似线性关系;当%MVC小于30%时,两者则出现指数非线性关系;(3)屈肘力矩总体上比伸肘力矩要大,最大的屈肘力矩为最大的伸肘力矩的1.7倍;(4)男性的关节力矩是女性的两倍左右,而女性的抗疲劳程度比男性强;男女肌肉在抗疲劳特性上的差别随着外部相对载荷的减小越来越明显。论文的研究结果表明,肌肉疲劳预测模型和手臂模型不仅能够客观的反映人体肌肉与手臂的静态、动态以及疲劳等力学特征,而且能够准确的描述男女之间肌肉不同的生物力学特性,具有很强的科学价值和应用价值,可为进一步研究人体骨骼肌肉的力学特征提供有效的工具。
To simulate high-fidelity and realistic human motion,it is necessary to develop an accurate biomechanics muscle model that is able to capture fatigue with physiological characteristics.In this dissertation,a fatigue human muscle model is developed and indirectly verified via the human elbow arm flexure-extension modeling and experimentations.The fatigue muscle model is modified from an existing calcium ion transport model by including parameters for PCSA,muscle length,shortening velocity and nerve cell activation.Further,in our muscle model we hypothesize that the popularly accepted 3 types of motor unit(representing slow fatigue,fast fatigue and fatigue resistant) can be amalgamated into one single motor unit that possesses all these 3 characteristics.We termed this new approach as a self-regulating adaptive model.Except for some non-invasive situations,it is generally not viable to perform direct in vivo experiments with human muscles and thus,to verify our work,we develop a fatigue muscle human arm elbow model for checking against laboratory measurements involving human subjects.Among the information obtained are strength curves of the elbow joint torque,the maximal endurance time(MET) under varying external loadings,and fatigue characteristics of the elbow under isometric and isokinetic contractions.Extensive comparisons of the predicted results versus the experimental results are provided.Further,male and female muscle responses from our model and from experiments are compared.
The comparisons in our study can be grouped into 4 main and specific categories: (1) the elbow flexure joint torques for both static and dynamic states as a function of the elbow joint angles-we found that the maximal torque angle occurs at about 70°;(2) the MET varies inversely with the percentage maximum voluntary contraction(MVC) -at MVC＜30%,the MET exhibits an exponential drop with MVC and at MVC＞30%, the MET fiats-out to an approximately linear decrease with MVC;(3) the flexor torque is generally larger than extensor torque-the maximal flexor torque at about 1.7 times the maximal extensor torque;and(4) the ratio of the male-female maximal torque is 2 with the female muscle being more fatigue-resistant-the contrast is especially more evident in the lower relative loading range.We showed that in all eases,our theoretical predictions agree reasonably well with the experimental results.
We believe our work is very useful for the study of the human musculo-skeletal motions and biomechanies,particularly,in the field of sports and rehabilitation medicine.
引文
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