| At present,the robot-assisted movement training with the aim of upper-limb motor function rehabilitation mainly focuses on the simulation of daily activities,while little attention is paid to the training of specific muscle.The main aim of this thesis is to develop a 3D mathematical musculoskeletal model of the shoulder complex,and propose a muscle-specific rehabilitation training method based on the optimal-loadorientation concept(OLOC).To represent the movement of the shoulder skeletal system,a hybrid spatial mechanism model is proposed.The vector theory method and homogeneous coordinate transformation are used to establish the position analysis equations of the mechanism,and the analytical solutions are obtained finally.In order to verify the validity of the mechanism model,the calculation results are compared with the data obtained from a shoulder movement experiment.Simultaneously,a shoulder rhythm model is developed based on the analysis result of the motion relationship between the humerus and shoulder girdle,thus greatly simplify the description of the shoulder’s movement.To analyze the muscle paths and muscle lines of action,the Obstacle-set method is developed.Therefore,combined with the skeletal mechanism model,a geometric musculoskeletal model which contains the total 31 muscle bundles of shoulder is developed.A Hill-type muscular model is used to characterize the mechanical property of the muscle.Meanwhile,the muscle activations are adopted to represent the active level of muscles.Thus the constraint equations are established by the static analysis about the shoulder skeletons.Consequently,the mathematical musculoskeletal model of the shoulder complex is developed.Finally,a training method for specific muscle based on the optimal load orientation concept is proposed.The shoulder movement of abduction in frontal plane is simulated to evaluate the training efficiency.The results suggest that the muscle-specific rehabilitation training method based on the OLOC can improve the training efficiency of specific muscles significantly.Simultaneously,the differences in the training efficiency between different muscles are evaluated,thus the applicabilities of the rehabilitation trajectory for different muscles are determined.The mathematical model of shoulder,the shoulder rhythm model and the training method of specific muscle proposed in this thesis may aid on the further development and design of the training strategy and rehabilitation robotic devices. |
