缓冲式运动中的腿部受力分析模型

摘要

Since it is hard to analyze and model the leg force in the buffer type movement,and the force quantitative eva-luation has low accuracy,a leg force analysis model in the buffer type movement based on error tracking in the defined initial state is put forward. The force control constraint parameter is analyzed for the driving effect torque of each joint of the leg in the buffer type movement. The error estimated with the force parameter is tracked in the defined initial state to implement the leg force kinetic control and calculate the joint driving torque. The simulation results show that the model used to perform the leg force analysis in the buffer type movement has high precision of the force control and small estimation error of the leg force pa-rameter,and can benefit the scientific quantitative evaluation and analysis for the kinesiology.%针对缓冲式运动中的腿部受力分析建模难度较大,受力定量评估精度不高的问题,提出限定初始状态下误差跟踪的缓冲式运动中的腿部受力分析模型.该模型对缓冲式运动中的腿部各个关节驱动作用力矩进行受力行为控制约束参量分析,在限定初始状态下进行受力参量估计的误差跟踪,实现腿部受力动力学控制和关节驱动力矩计算.仿真结果表明,采用该模型进行缓冲式运动中的腿部受力分析,对受力行为的控制精度高,对腿部受力参量的估计误差小,促进对人体运动学的科学定量评估和分析.