A Comprehensive Model for Human Motion Simulations and Its Application to the Take-off Phase of the Long Jump

摘要

A mathematical model is presented which makes it possible to simulate complex motions of a 17 segment hominoid. The dynamical equations are given in compact form and the treatment of external constraints and impact situations are discussed in depth. The present model fully accounts for the dynamics of the executor subsystem and also simulates the intricately controlled internal excitation and contraction dynamics of the myoactuator subsystem. The controls in the model are the actual neural controls motor unit recruitment and stimulation rate, for each of the 46 muscles of the model. For a given set of subject specific input parameters, a given initial state, and given neural control functions, the computer program executing the model computes the state trajectory, the histories of all constraint forces, the trajectory of the center of mass, and the histories of the components of the velocity of the center of mass, of the total angular momentum, of all muscle and joint reaction forces, and of the energies of all 17 model segments.