%0 Journal Article
%T 基于空间混联机构的人体肩部骨骼运动模型<br>A shoulder skeletal kinematic model based on spatial hybrid mechanism
%A 聂超
%A 宋智斌
%A 戴建生
%J 北京航空航天大学学报
%D 2018
%R 10.13700/j.bh.1001-5965.2016.0941
%X 摘要 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。<br>Abstract：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 coordinate 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 calculation 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 complex. Furthermore, this model can be adapted for different individuals' geometric skeletal characteristics by scaling.
%K 肩部复合体
%K 肩带
%K 骨骼运动
%K 齐次坐标变换
%K 空间混联机构&lt
%K br&gt
%K shoulder complex
%K shoulder girdle
%K skeletal movement
%K homogeneous coordinate transformation
%K spatial hybrid mechanism
%U http://bhxb.buaa.edu.cn/CN/abstract/abstract14224.shtml