Regular Daily Based On Computer Simulation Of Human Upper Limb Movement Studies

Study daily movement rules of human upper-limb has important guiding significance for the design and control of arm exoskeletons, which can be applied to clinical diagnosis and rehabilitation training, sports damage assessment, ergonomics, etc. This thesis take drinking action as the study object, using computer simulation technology research drive torque and power consumption of each joints and the whole upper-limb, and total energy of the whole movement process. The work mainly include:1.Analysis the physical structure and motion forms of upper-limb from the perspective of anatomical, summarized the joints's angle scope and biomechanics parameter calculation formula of upper-limb.Based on rigid assumptions, a two-rigid (forearm and upper arm)4-DOF upper-limb rigid model was designed.2. According to kinematics and dynamics theory, using D-H and homogeneous transformation method established the modle's kinematic equation and elaborate its direct and inverse solving; then using Lagrange equation method established dynamic equation of the modle.3. In ADAMS simulation platform, by using the model and the equation, make simulation and data measurement experiment:(1) Provide input parameters (time and angle) for the model by observation and measurement. In this thesis a healthy adult men was chose to make experiment(each experimental repeat 10 times) under three velocity (normal, fast and slow) and four trajectory (normal, two kinds of abnormal,obstacle avoidance), through the method of timing,multi-perspective photograph and angle measurement, accessed each experiment's data of the action completion time and joints's angle value when the limb's end reached target position.(2) Set different velocity, trajectory, quality, centroid and have or not have obstacal conditions to make ADAMS simulation experiment, measured drive torque and power consumption of each joints and the whole upper-limb, and total energy of the whole movement process, which provides basis source data for simulation.(3) By comparing and analysing the measure data with normal action, this thesis summarizes upper-limb's daily movement rule:Instantaneous peak of drive torque and power consumption are proportional to movement velocity; Obstacles will increase drive torque and power consumption; Normal movement follow the principle of minimum power consumption of single joint; Joint angle existence the best performance range of activities; The higher mass of upper-limb, the higher drive torque, power consumption and total energy consumption; Relatively healthy state, lower limb centroid will increase drive torque, power consumption and total energy consumption.Experimental results not only proved correctness and feasibility of this method, and reveals the movement rules of upper-limb, and can also provide quantitative parameter basis for the design and control of arm exoskeletons and help for its optimization.