虚拟现实验证仿真多路况下人体下肢行走状态*

摘要

背景：在智能下肢假肢控制器的研究过程中，无论采用肌电信号还是运动与动力学信息相结合等方式识别路况，其结果都通常抽象难懂。n　　目的：从直观运动学分析的角度说明不同路况之间的异同，并利用虚拟现实技术对多种路况场景进行建模和仿真以使识别结果形象化、直观化。n　　方法：用Simulink下的机械建模模块Simmechanics搭建人体下肢模型框图并进行输出运动学分析，比较各种路况下运动学信息的异同，结合虚拟现实工具箱建立多路况场景，用运动学信息驱动虚拟模型运动，完成不同路况的验证仿真。n　　结果与结论：直观利用运动学信息区分多种路况有一定的局限性，需结合其他手段或信号；虚拟现实工具箱能很好地再现数据所对应的运动场景。仿真结果表明，虚拟现实建模方法能够真实形象再现人体下肢在平地、斜坡以及楼梯的行走状况，使数据所反映的运动状态不再单调抽象，使识别结果形象化，可作为验证路况识别结果的手段，为智能假肢模式识别工作提供了一个良好的验证显示平台。%BACKGROUND:In the process of studying intel igent lower limbs prosthesis control er, the identification results of road conditions are usually abstract and not easy to understand no matter what measure is taken such as making use of electromyographic signal or combining kinematic with dynamic information. n OBJECTIVE:To il ustrate the differences and similarities between different road conditions from the direct kinematics analysis, and to make models and simulate various road conditions by using virtual reality technology in order to make recognition results visualize. n METHODS:The mechanical modeling modules Simmechanics under Simulink were used to build model diagram of human lower limbs and then we carried out kinematics analysis to the output. The differences and similarities of kinematic information were compared between different road conditions;various road conditions and scenes were built with the help of virtual reality toolbox, and drove the model by kinematics information to achieve validated simulation of different road conditions. n RESULTS AND CONCLUSION:The results showed that it has a certain limitation to identify various road conditions by using intuitive kinematics analysis. More means and information should be used. Virtual reality toolbox could represent the corresponding movement scene wel which is belonging to corresponding data. Simulation results showed that virtual reality modeling method can reproduce the true image of walking conditions of lower limb walking in the plains, slopes and stairs, and make the movement state reflected with data no longer monotonous abstract. This method can make the identified results visualize and can be taken as a measure to validate the results of road conditions identification, which can provide a good validated display platform for the identification of intel igent prosthetics mode.