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Body mechnics calculating method, body mechanics model, its model data, and body model producing method

机译:人体力学计算方法,人体力学模型,其模型数据以及人体模型产生方法

摘要

A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
机译:具有骨骼几何数据和肌肉/绳/带数据的人体的精确模型的正向/反向力学计算是高速进行的。当给出新的骨架几何模型时,定义新的骨架几何模型与代表正常身体的预定义正常身体模型之间的映射以自动产生新的身体模型。处理单元读取要进行力学计算的模型数据,读取作用在车身模型上的导线/虚拟连杆的产生力f,读取当前刚体连杆的角度,位置和速度,计算雅可比J L (取决于关节角度),根据定义的雅可比定律J <,将读取的肌肉/绳/束带的产生力f转换为广义力τ G Sub> L ,存储广义力,确定将广义力τ G 施加到身体时产生的运动的整个加速度,并计算每个运动的速度和位置刚体链接,并存储它们。

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