人体手端点到点运动的优化轨迹生成与控制

考虑肢体肌肉的生理特征和肌肉收缩的动力学行为,利用肌肉等长收缩的最小功准则研究了人体手端点到点运动的优化轨迹生成与控制问题.讨论了肌肉收缩的动力学特性,建立水平面内上肢运动的动力学模型,提出将肌肉等长收缩的最小功准则作为优化的目标函数,运用最优化理论将手端点到点的运动问题转化为最优控制问题,设计了求解手端运动优化轨迹的迭代算法,得到了手端运动的控制规律和优化轨迹.算例仿真表明该方法对手端运动优化轨迹的预测是有效的.

Optimal trajectory formation and control of human arm point-to-point movement

Optimal human arm trajectory formation was investigated on the basis of physiological characteristics of skeletal muscles and dynamic properties of contracting muscles, and a minimal effort criterion prescribed by isometric muscle contraction was proposed. The dynamic properties of contracting muscles were discussed and the dynamics of human arm was modeled. The arm point-to-point movement problem was converted to an optimal control problem by using the proposed criterion. According to optimal control theory, the iterative algorithm used to obtain the optimal trajectory was designed. The control laws and the time history of human arm movement were found. The results of numerical simulation indicate that the proposed criterion for the prediction of optimal arm movement trajectories is effective.