基于空间混联机构的人体肩部骨骼运动模型

为了描述人体肩部骨骼系统的运动特征，将肩胛骨与胸廓的相对运动关系定义为类似于圆柱-平面副的运动约束，建立了肩部骨骼系统的空间混联机构模型。首先定义了肩部复合体各关节的类型，并完成了肩带部分和整个肩部机构的自由度分析。然后通过定义附着于各骨骼上的局部坐标系，以齐次坐标变换矩阵和矢量法建立机构的运动分析方程，求得其关节位置的闭合解。最后为了验证该模型，以获得自肩部运动实验的骨骼姿态数据反向驱动该机构模型，从而得到肩胛骨姿态的计算结果，并与测量结果进行对比。结果表明：该机构模型能够反映肩部骨骼的运动约束关系。同时，该模型可以通过缩放处理从而用于适应不同个体的骨骼几何特征。

A shoulder skeletal kinematic model based on spatial hybrid mechanism

In order to represent the movement of the shoulder skeletal system, a spatial hybrid mechanism model is proposed, which describes the articulation between the scapula and thorax as a kinematic constraint similar to a cylinder-plane pair.Firstly, types of joints in shoulder are determined, and thus the degrees of freedom of the shoulder girdle and shoulder mechanism can be analyzed.After the definition of local coordi-nate systems attached to each skeleton, the vector theory method and homogeneous coordinate transformation are used to establish the position analysis equation of the shoulder mechanism, and the closed-form solutions of joint positions are obtained subsequently.Finally, to verify the validity of the mechanism model, the skeletal posture dataset obtained from a shoulder movement experiment is used to inversely drive the model, the calcu-lation results of the scapular posture are compared with the experimental data.The results indicate that the mechanism model has achieved a good consistency in predicting the skeletal movement of the shoulder com-plex.Furthermore, this model can be adapted for different individuals' geometric skeletal characteristics by scaling.