Research On Lower Limb Movement Model And Experimental During The Human Body Running

The research on characteristic of joint movements of lower limbs during the running of human body is regarded as one of the keys of human biomechanics. This project aims at the hip, knee and ankle of human lower limb.The derived model, experiment data and relevant conclusions have scientific significance and application value in the filed of human motion biomechanics, sports science and human robot research.Firstly, based on the research status of domestic and foreign,human lower limb model in the sagittal plane was established with seven-rigid-body and seven degrees depending on body physiological structure. With the D-H method, the human body kinematics model of lower limbs was established. Based on Kane method, the dynamic equations of the swing phase and support phase during the running were derived respectively.Secondly,the experiment scheme and data processing method were made by experiment platform of running machine, FAB system and wireless phase detection system. Angle motion characteristics and laws of hip, knee and ankle was concluded through the diversity in this experiment under the condition of multiple speed measurement. To research the effects of running speed on the motion characteristics of human hip, knee and ankle joints, the regression equation was derived.Eventually the mathematical model of speed as the independent variable of rotative angle of human hip, knee and ankle joint was established based on Fourier function. Thirdly, the mathematical model of the support phase and swing phase were established with the research on the influence of running speed to the gait phase rule. Finally, the modeling of body running process was made and simulated by using the SimMechanics toolbox of MATLAB software. The validity of the kinematics equation, the dynamic equation of human lower limb and the mathematical model of rotative angle of each joint of human lower limb was verified.