Research Of Construction And Application Of Human Motion Model With Proprioceptive Feedback

Proprioception is important sensory feedback for the human to perceive body state and control movement.The in-depth study of its working principle and function is of great significance for understanding how the brain controls and interacts with the body.At present,a wide range of studies have been carried out at home and abroad.But the models adopted for the simulation of the motion control loop are mainly based on the equations established by the target movement or the construction of a transfer function for parameters optimization.The motion control loop is seldom analyzed from the real physiological structure of the human body.Therefore,this study intends to combine the real physiological proprioceptors with the musculoskeletal model to construct a neuromuscular simulation framework and apply it to the evaluation of rehabilitation medical instruments such as the exoskeleton.At first,the muscle spindle and Golgi tendon organ models used in the current musculoskeletal model are constructed and validated on the basis of the previous mathematical models.Compared with the original experimental data,the objective similarity scores of the simulated results are relatively high and have good consistency with the experiments.Then,the neuromuscular simulation framework coupled with the proprioceptor model and musculoskeletal model of the human lower limb is established,and motion experiments were carried out to verify it.The muscle activations generated by proprioceptive feedback control loop are compared with EMG signals.The similarity scores between quadriceps femoris EMG signals and simulated activations reached more than 70%.At the same time,the simulated knee joint rotation angle is compared with the experimental,and the similarity scores reach up to 80.33%,showing a good consistency.In addition,the simulation results show that the framework has good resistance to the impact by applying it to the gait movement,which is consistent with the phenomenon that the human body can resist the external impact to reach the target position during the movement.Finally,the proprioceptive neuromuscular simulation frameworkl is applied to the evaluation and analysis of the exoskeleton for stroke rehabilitation.In this study,the gait experiment of volunteers is carried out.And the co-simulation analysis of human gait is carried out by coupling the proprioceptive neuromuscle model.The gait experimental data of three stroke volunteers with and without exoskeleton is collected.The exoskeleton is analyzed in depth through neuromuscular simulation.The exoskeleton function and efficiency are studied from the perspective of joint angle,proprioceptive stimulation,muscle activation,energy consumption and other aspects.This study conclus that the exoskeleton can reduce the energy consumption of volunteers and the tracking of ankle joint angle can be further strengthened.These provide a certain basis for the further improvement of the exoskeleton.In conclusion,this study established a neuromuscular simulation framework of lower limb based on the real physiological structure of human proprioceptive feedback loop.and successfully applied it to the evaluation and analysis of exoskeleton.The model proposed in this study can effectively simulate the basic neural reflex of human body.It can be applied to the analysis of human body gamage under impact load and the design and evaluation of the rehabilitation medical instruments of man-machine interaction.