Biomechanical Modeling And Simulation Of Human Walking Dynamics

Human dynamics is a discipline based on human modeling and kinematics analysis of the model.It is one of the basic theoretical disciplines in the research of humanoid robots and human rehabilitation equipment.It obtained a wide range of applications in the field of prosthetic design and other fields.Human dynamics research is instructive in guiding the design of electromechanical products and the design of sports rehabilitation equipment.Based on human anatomy and biomechanics,this article builds a human bone model that is in line with the structure of the human anatomy.The human walking kinematics and dynamics data are obtained through the human gait experiment.Then,the model is driven by reverse dynamics in the multi-body dynamics software ADAMS,simulation results and measured data were compared to verify the model.Specifically,it includes the following four aspects:1.Through the human gait experiment,using the VICON human motion capture system and the force plate to obtain human walking kinematics and dynamics data,and the data are processed,which is used as the motion drive of the simulation.2.Human anatomy data are acquired from the Virtual Human Project and the human model was reconstructed using reverse engineering.According to the definition of human anatomy,the human skeletal system is divided into 13 rigid bodies,and anatomical bony markers and local coordinate systems are added to the 13 rigid bodies,in the three-dimensional modeling software UG.By comparing with the experimental subject,the model is scaled,and the human body model matching the experimental data is obtained.3.We established the environment needed for motion simulation in ADAMS and the rigid human walking simulation is realized.Through the results of rigid walking simulation,we can verify this modeling method,and the walking characteristics of the human body model are evaluated from the analysis of kinematics and dynamics.The simulation results show that the error between the maximum ground reaction force and the measured result of the rigid model is 18%,and the contact phase duration accounts for 50%of the total gait cycle.4.The foot finite element model based on ABAQUS is constructed and the first 30 modes of the foot model are extracted.By discussing the interface technology between ADAMS and ABAQUS,we can translate the finite element foot into flexible foot successfully.Then,the flexible foot is imported into ADAMS to realize the rigid-flexible coupled human walking simulation.Through the rigid-flexible coupled walking simulation,we can found that the error between the maximum ground reaction force and the measurement result is reduced to 5%and the touch-phase accounts for 60%of the total gait cycle.It is proved that the flexible foot can really improve the performance of the human walking simulation.