Forward Dynamics Model of a Human Leg for FES Applications

摘要

A forward dynamics planar model of an average sized human (183 cm) is developed using Simulink and visualNastran packages, integrating the constituent model blocks from various published studies through extensive literature search. The model consists of both hip and knee joint along with the externally stimulated musculotendon model of a knee extensor. The model also takes into account the length and moment arm variation of the musculotendon, variation of the joint viscoelestic properties according to all relevant joint angles. The resultant simulated motion can be visualized within the visualNastran software and be conveniently fed back into the Matlab/Simulink environment.