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lxjz2021 056人体肌骨的多柔体系统动力学研究进展
lxjz2021 056人体肌骨的多柔体系统动力学研究进展
研究综述
人体肌骨的多柔体系统动力学研究进展
1,* 1 1 2 1
郭建峤 王言冰 田 强 任革学 胡海岩
1 引 言
1.1 学科发展概述
a b
c d
图1
人 体 肌 骨 系 统 多 体 动 力 学 模 型 . (a) OpenSim 全 人 体 模 型 (Raabe & Chaudhari 2016), (b) Any-
body 全人体模型 (Bassani et al. 2017), (c) LifeMOD 全人体模型 (Kia et al. 2014), (d) ArtiSynth 口
颌模型 (Stavness et al. 2011)
1.2 我国研究现状
a c
1.5
球头 1.0
臼杯
内衬 3.0
弹簧 45° 0.5 2.5
2.0
力元
1.5
0 1.0
股骨 0.2 0.5
0
-0.2 0
1
b d 1 1
2
2 2
3
肌骨模型 3 3
4
4 4
5
5 5
6
座椅
sin()
图2
人体肌骨模型典型应用场景. (a) 人工髋关节假体设计 (Zhang et al. 2015), (b) 脑瘫患儿关节僵硬
缓解 (Van Der Krogt et al. 2016), (c) 士兵负重步态 (Xiang et al. 2009), (d) 汽车座椅减振 (Zhang
et al. 2019a)
(1) 骨伤科领域: 西安交通大学靳忠民教授团队 (Zhang et al. 2015, Chen et al. 2016, Peng et
al. 2018) 将 Anybody 模型与有限元结合, 基于关节接触分析设计下一代人工关节假体. 首都医科
大 学 张 宽 教 授 团 队 基 于 OpenSim 模 型 评 价 全 膝 关 节 置 换 患 者 术 后 下 肢 功 能 变 化 (刘 佳 耕 等
2020). 北京大学荣起国教授等 (Liu et al. 2020a, 2020b) 基于肌骨动力学仿真结果提取正态度指
标, 应用在前交叉韧带断裂的早期诊断.
(2) 康复医学领域: 上海交通大学王冬梅教授、王玮博士建立了腰椎肌骨模型 (Wang et al.
2020), 实现手法治疗效果定量评估 (王玮等 2016). 同济大学牛文鑫等与香港理工大学张明教授
合作, 实现椎间盘、韧带有限元模型与 OpenSim 模型耦合 (Wang et al. 2019). 太原理工大学陈维
毅教授团队建立了下蹲动作膝关节软骨接触力的理论模型 (Guo Y et al. 2012), 靳忠民教授团队
建立了膝关节软骨损伤的有限元模型 (林伟健等 2021). 最近, 王凡嘉等 (2021) 基于 OpenSim 仿
真优化深蹲康复训练方案. 南京体育学院钱竞光等 (2015) 针对偏瘫患者开展正−逆向耦合动力学
分析 (束一铭等 2017). 河南科技大学胡志刚等建立了个性化手部肌骨模型, 分析了脑卒中患者手
部抓握肌肉力 (赵梦文等 2021).
258 力 学 进 展 2022 年 第 52 卷
后, 作者结合前期研究经验, 归纳出人体肌骨系统多体动力学建模理论与方法领域的未来研究趋
势, 为我国相关领域力学科研人员提供借鉴.
2 骨骼肌生物力学
2.1 骨骼肌主、被动力模型
肌内膜
肌小节
Ⅰ 肌腱
Ⅱ
肌纤维 肌束 肌肉
图3
骨骼肌多级结构 (Gotti et al. 2020)
主 动 收 缩 单 元 是 对 肌 小 节 形 成 横 桥 过 程 的 力 学 抽 象 . 如 图 4(b) 所 示 , 大 量 生 理 实 验 结 果
mus
(Gollapudi et al. 2009, Winters et al. 2011) 表明, 在神经刺激给定条件下, 主动肌力 FCE 随肌纤维
长 度 lmus 变 化 曲 线 呈 倒 钟 形 , 即 存 在 令 FCE
mus
最 大 的 最 优 肌 纤 维 长 度 l0mus . 为 解 释 这 一 现 象 ,
Allinger 等 (1996) 提出了“毛刷理论”, 将肌丝滑移视为两重叠毛刷的拔出过程, 重叠长度最大时
mus
拔 出 力 最 大 . 学 者 们 已 建 立 多 种 数 学 函 数 来 描 述 FCE − lmus关 系 , 参 见 Rockenfeller 和 Gunther
(2017) 撰写的综述. 其中, 使用较为广泛的函数形式包括 Winters (1990) 最早建立, 并由 Thelen
(2003) 推 广 的 Gauss 函 数 形 式 , Silva 与 Ambrósio (2003) 总 结 的 自 然 指 数 形 式 , Millard 等
(2013) 提出的多段线性拟合形式等.
mus
另外, 与式 (1) 一致, Hill-Zajac 模型的主动肌力 FCE 亦随肌纤维收缩速度 l˙mus 变化. 如图 4(c)
所示, 根据 Joyce 等 (1969) 实验结果, 存在临界速度 l˙0mus , 当纤维收缩速度超过 l˙0mus 后 FCE
mus
不受其影
mus
响. 因此, FCE − l˙mus常表现为分段函数形式 (Thelen 2003, Silva & Ambrosio 2003). 进一步, 假设
mus
FCE 与 lmus 和 l˙mus 的函数关系 fL , fL̇相互独立, 主动肌力 FCE
mus
可总结为如下表达式
mus
FCE = a(t)F0mus fL (lmus , l0mus )fL̇ (l˙mus , l˙0mus ) (3)
a b
1.6 主动肌力
1.4 被动肌力
mus EDL
CE /2 1.2
无量纲肌肉内力
tend mus
EDII
PE /2 1.0 TA
tend tend mus 0.8
0.6
肌腱 肌肉
元件 元件 0.4
0.2
1.0 无量纲肌肉内力
0.8 0.6
0.6
0.4
0.4
0.2
0.2
0
-0.2 0
-1.5 -1.0 -0.5 0 0.5 1.0 1.5 0.99 1.00 1.01 1.02 1.03 1.04 1.05
规范化肌纤维收缩速度 规范化肌腱长度
图4
骨 骼 肌 Hill-Zajac 模 型 (Zajac 1989). (a) 对 称 双 羽 状 肌 模 型 (Guo J et al. 2020b), 包 括 主 动 收 缩
元、被动弹性元与串联弹性元; (b) 主动与被动肌力随肌纤维长度变化曲线 (Silva & Ambrósio
2003, Guo J et al. 2020a) 及其与趾长伸肌 (EDL, EDII) , 胫骨前肌 (TA) 实验比较 (Gollapudi &
Lin 2009, Winters et al. 2011); (c) 主动肌力随肌纤维收缩速度变化曲线及其与生理学实验 (Joyce
et al. 1969, Mashima 1984) 比较; (d) 肌腱串联弹性元肌力随肌纤维长度变化曲线 (Blankevoort
et al. 1991) 及其与生理学实验 (Magnusson et al. 2001, Maganaris & Paul 2002) 比较
2.2 肌肉缠绕接触问题
a b
圆柱体
障碍
起止点
连线
通过点
图5
肌肉与骨骼缠绕描述. (a) 起止点简单连线及通过点约束 (Suderman & Vasavada 2012), (b) 简单
几何体障碍设置 (Suderman et al. 2012)
2.3 肌腱与韧带力学模型
2.4 肌筋膜力学模型
3 神经与肌肉控制理论
3.1 骨骼肌兴奋收缩耦合方程
3.2 肌肉最优控制
3.2.1 静态优化
3.2.2 动态优化
3.3 肌肉协同控制
3.4 神经与肌肉多层级控制
1.0
模式1
0.8 模式2
模式3
0.6
0.4
0.2
0
臀大肌 臀中肌 股直肌 股外侧肌 股二头肌 腓肠肌 胫骨前肌
0.4
模式1
0.3 模式2
模式3
()
0.2
0.1
0
1.0 1.5 2.0 2.5 3.0 3.5 4.0
时间/s
图6
基于非负矩阵分解 (Févotte & Idier 2011), 由健康人 3 个步态周期提取的典型肌肉协同模式
角度误差
纤维长度误差 肌梭 关节力矩
目标
腱梭 肌骨
运动 角度 力矩 控制层级 肌肉 运动学
模型
规划 控制 传递 肌力 控制
目标长度 激活度 执行
纤维
协同性 长度
CPG控制
图7
Walter 等 (2021) 建立的多层级神经与运动控制模型.
4 神经肌骨系统多体动力学
4.1 控制方程求解与分析
人体神经肌骨系统的控制方程包括两部分, 即肌骨多体系统动力学方程与兴奋激活耦合方
程, 可写作如下形式 (Guo J et al. 2020a)
M (q, t)q̈ − Q(q, q̇, a, t) + CqT λ = 0
C(q, t) = 0 (8)
τa (a, u)a − (u − a) = 0
4.1.1 逆向动力学
4.1.2 正向动力学
正向动力学研究能够考虑人体运动过程中的骨骼肌非线性动力学与软组织惯性效应. 这类
研究一般以肌肉激活度 a与外载荷 Qext作为模型输入, 求解人体各个节段与关节运动量. 由于基于
优化控制的正向动力学研究会带来巨大计算量, 因此通常采用试凑法给出各个肌肉的激活度曲
线 (Tuijt et al. 2010, Rupp et al. 2015). 这种方法适合于小规模肌骨系统, 例如口颌 (Lloyd et al.
2012)、肘关节 (Röhrle et al. 2017) 等问题的求解, 或者是肌肉等长/等速收缩问题 (Serpas et al.
2002, Hume et al. 2018). 针对下肢步态模型, 可通过比例−微分−积分 (proportional-integral-deriv-
ative, PID) 控制正向驱动. 但该方法需引入给定的协同模式, 消除骨骼肌的冗余性. Navacchia 等
(2019) 根 据 生 理 截 面 积 分 配 同 一 关 节 的 不 同 肌 肉 激 活 度 ; Razu 和 Guess (2018) 实 现 了 基 于
EMG 与 PID 协同控制的正向仿真; Khasian 等 (2020) 则将控制同一关节运动的多束骨骼肌合并
考虑激活度.
肌骨系统的正向动力学分析能够与有限元方法深度结合. 例如, Guess 等 (2010, 2015) 采用有
限元离散半月板, 提取下肢肌骨模型中的半月板刚度矩阵. 最近, Müller 等 (2020) 实现将半月板
非线性有限元模型与肌骨系统正向仿真融合, 通过有限元提取关节三维接触载荷, 导入到肌骨系
统仿真关节三维运动, 但其仍无法实现精细有限元模型与肌骨正向仿真强耦合. Navacchia 等
(2019) 与 Hume 等 (2019) 建立了包含精细膝关节周围组织建模的肌骨模型, 基于显式动力学求
解坐站转移与步态摆动期膝关节载荷, 但其计算量巨大. 为解决这一问题, Mo 等 (2019) 将肌骨模
型正向动力学分析与三维骨骼肌精细有限元模型耦合, 并基于运动学跟踪误差调整肌肉激活度,
降低了系统计算量. 然而, 精细有限元模型往往忽略了骨骼肌的惯性效应, 难以准确仿真跑步、
跳跃、侧切等快速运动.
近年来, 多柔体系统动力学方法已被逐渐推广到人体肌骨系统建模 (图 8) , 提出的各种模型
兼顾了人体动力学特征与计算效率. 如图 8(a) 所示, 浮动节点坐标法被 Mikkola 等应用在小变形
体 (例如骨骼) 建模 (Kłodowski et al. 2011a, 2016). Al Nazer 等 (2008, 2011) 采用模态柔性体替代
刚 性 胫 骨 模 型 , 在 LifeMOD 插 件 中 采 用 正 向 动 力 学 方 法 分 析 步 态 载 荷 . 随 后 , Kłodowski 等
274 力 学 进 展 2022 年 第 52 卷
a b 0
髂后
上棘 -0.05
自由 肱二
髂前 界面 -0.10 头肌
上棘 肱三头肌
-0.15
-0.20
固定
-0.25 0.3
界面
0.2
股骨 -0.30
0.1
0 0
膝关节 c 中心腱-胸骨:圆柱副
柔性股骨颈模型
胫骨 L2
L3
踝关节 红外
标记点
足跟
足尖 肌性部:柔性单元
图8
多柔体动力学在肌骨系统建模中的应用. (a) 基于浮动节点坐标描述建立的小变形股骨颈模型
(Kłodowski et al. 2012), (b) 柔性肱二头肌、肱三头肌模型 (Gfrerer & Simeon 2021), (c) 柔性膈肌
模型 (Guo J et al. 2021a)
4.1.3 预测动力学与非线性分析
4.2 个性化肌骨模型的参数辨识
肌骨多柔体系统动力学建模需要确定大量的模型参数, 但目前尚无实验手段能够从单一受
试者辨识全部个性化参数. 因此, 目前一般采取“两步走”策略: 首先基于尸体解剖学数据建立所
谓“标准人”模型, 然后通过标定手段映射到受试者. 但即便是标准人模型, 其生物力学参数也来
源于多个受试组的结果. 因此, 如何整合基于不同受试者的模型数据, 已成为本领域研究的重要
内容之一. 而肌骨系统个性化建模, 离不开多体动力学与影像学、运动生物力学、生物材料力学
等人体实验测量学科的深度交叉.
4.2.1 肌肉形态
a 左闭口肌 b
右闭口肌 咬肌
左开口肌 颞肌
右开口肌 翼外肌
翼内肌
二腹肌
图9
基于非刚性迭代最近点方法 (Amberg et al. 2007) 映射肌肉附着点. (a) 基于 Anybody 标准口颌模
型 (de Zee et al. 2007) 映射到患者; (b) 基于一名健康人肌肉附着区域, 映射到患者
4.2.2 肌肉最大力量
4.2.3 足底接触力描述
足与地面间的接触力决定了人体步态动力学响应. 步态实验室一般采用力台测量足底接触
力, 测量结果包括三维力矢量与压力中心 (center of pressure, CoP) . 在肌骨模型中, 可直接将力
台数据作为外载荷输入, 求解关节力矩与肌肉内力. 然而, 力台难以在步态实验室之外直接应用.
此外, 在肌骨系统正向动力学分析中, 无法直接输入足底接触力. 足底压力测量可获取任意时刻
足所受正压力的空间分布, 但其只包含支撑人体直立的法向压力, 难以获取推动人体前进的摩擦
力. 因此, 肌骨系统建模需包含可靠的足底接触力模型.
在肌骨系统建模中, 一般将足底接触力处理为约束或接触模型, 其中约束建模适用于逆向动
力学分析. Ren 等 (2008) 提出“光顺平移假设”, 采用经验函数拟合足底反力. Hamner 等 (2013) 建
立了滚动约束模型模拟足与地面相互作用, 并通过与球铰和固定副 (Guess 2012) 约束比较验证
模型适用性. Fluit 等 (2014) 在单足上布置 12 个接触检测点, 在各检测点放置 5 个虚拟作动器, 基
于静态优化求解足与地面接触力分布. Skals 等 (2017a) 对这一约束模型做进一步优化, 应用于体
育动作分析领域. 彭迎虎等 (2019) 基于力台测试对上述模型在不同步速条件下的正确性进行验
证, 证实约束模型在低步速条件下具有较好的预测效果. Millard 和 Mombaur (2019) 将足分别简
化 成 椭 球 与 双 球 约 束 模 型 , 将 约 束 建 模 方 法 推 广 到 人 体 正 向 动 力 学 仿 真 . 最 近 , Van Hulle 等
(2020) 提出基于最小二乘与滤波, 实现了足与地面单面约束力的快速计算.
接触力模型主要应用于正向动力学仿真. 由于足的复杂几何结构, 为了提高计算效率, 一般
需将足简化成简单接触几何体的组合. 在被动行走 (何家玮 2018) 等问题的研究中, 可忽略足的
三维几何, 在足底布置接触点, 将其与地面接触简化成分布点与平面接触问题 (Ma et al. 2021).
Jackson 等 (2016) 在足表面均布接触点, 在足与地面间形成线性刚度−阻尼器矩阵, 并基于参数优
280 力 学 进 展 2022 年 第 52 卷
4.3 典型应用
4.3.1 步态分析与假体设计
a b 足底压力实验 接触仿真
350 350
1.00 1.00
300 300
0.95 0.95
250 250
0.90 0.90
200 200
/m
/m
0.85 0.85
150 150
0.80 0.80
100 100
0.75 0.75
0.70 50 0.70 50
0 0
0.35 0.40 0.45 0.35 0.40 0.45
/m /m
图 10
足底接触力模型 (Brown & McPhee 2018). (a) 椭球接触模型, (b) 实验与仿真足底压力结果比较
4.3.2 脊柱降载
a b
AI-21点
模型
红外相机
阵列
红外
标记点
视频相机
图 11
人体步态同步测量方法. (a) 红外与视频混合动作捕捉系统, (b) 视频 AI-21 点模型与红外标记点
同步测量
型, 假设各椎体与骨盆运动满足固定的角度分配节律, 但实验表明腰椎运动节律随躯干屈曲角度
不断变化 (Tafazzol et al. 2014). Bruno 等 (2015) 将 Christophy 模型推广到胸腰椎, 并引入可变形
胸 腔 . Ignasiak 等 (2016a, 2016b) 进 一 步 证 实 , 胸 腔 建 模 假 设 主 要 影 响 上 半 部 分 腰 椎 载 荷 .
Putzer 等 (2016) 系统探讨了椎体解剖学参数对逆动力学仿真结果的影响, Bruno 等 (2017) 进一
步证实受试者脊柱曲线与肌肉形态决定了肌骨仿真结果的精度. Khurelbaatar 等 (2015) 建立了
包含全离散颈、胸、腰椎节段的脊柱肌骨模型. 另外, Rupp 等 (2015) 建立了腰椎正向动力学模型,
成功仿真脊柱主动前屈动作. Mörl 等 (2020) 进一步实现机械驱动脊柱被动屈曲条件的正向仿真.
与四肢肌骨系统相比, 脊柱除了骨骼、肌肉、韧带等承力结构外, 还包括椎间盘这一重要的
被动承载结构. 椎间盘连接相邻椎骨, 由其中央承受正压力的髓核, 以及包裹在髓核周围, 具有弯
曲与剪切刚度的纤维环组成. 为了方便起见, 在逆动力学模型中常将椎间盘简化成球铰 (de Zee
et al. 2007, Bruno et al. 2015), 忽略了椎间盘的变形与刚度特性. 为了描述椎间盘同时承受由躯干
与头颈部与传递的 6 自由度载荷, 一种方式是将其抽象成线性 Bushing 模型, 建立 6 × 6 对称刚度
矩阵. Gardner-Morse 和 Stokes (2004) 基于尸体实验将椎间盘简化为并联的压杆−剪切梁, 对应的
刚度矩阵具有 11 个独立变量. Christophy 等 (2013) 证实, 椎间盘 Bushing 起止点对计算结果影响
显著. Meng 等 (2015) 将 Bushing 模型应用在 Bruno 腰椎模型中, 模拟相邻椎体间的相对滑移, 但
其线性刚度与阻尼矩阵忽略了椎间盘所具有的非线性特征. Monteiro 等 (2011) 建立通过椎间盘
有限元模型确定线性刚度矩阵系数的方法. Karajan 等 (2013) 进一步将离散刚度模型推广到非线
性情况, 但该模型无法将椎间盘模型与肌骨模型强耦合仿真. Arjmand 和 Shirazi-Adl (2006b) 采
用柔性剪切梁模型连接相邻椎体, Valentini 和 Pennestrì (2011) 进一步采用弹性样条拟合脊柱曲
线, 分析头足向振动传递 (Valentini 2012).
除椎间盘外, 腹腔本身也能够承担一部分头足向压力. 腹腔内除了液体脏器外, 在食管、胃
泡与其他脏器间隙中均存在一定体积的气体 (Levitt 1971, Fink & Lembo 2001, Hui et al. 2005), 该
气体的压力称之为腹内压 (intra-abdominal pressure, IAP) . 如图 12(a) 所示, 外载荷增大会减小
第2期 郭建峤, 王言冰, 田强, 任革学, 胡海岩 : 人体肌骨的多柔体系统动力学研究进展 283
4.3.3 口颌植入物设计
a b c
膈肌中心腱
竖脊肌
内力 脏器 1
膈肌
脏器 2
ES
脏器 3
腹内压 腹横肌
脏器 4
腹横肌 脏器 5
- L5-S1
盆底肌
椎关节内力
盆底肌
腹腔
图 12
腹 腔 多 柔 体 动 力 学 模 型 (Guo J et al. 2021a). (a) 躯 干 隔 离 体 受 力 分 析 , (b) 柔 性 核 心 肌 群 模 型 ,
(c) 腹内压气柱模型
本文作者团队与北京大学口腔医院颌面外科王晶博士、陈俊鹏博士等合作, 提出了健康人
与患者口颌肌骨系统个性化多柔体动力学建模方法. 根据 CBCT 拍摄受试者颌面骨骼几何数据,
通 过 患 者 个 性 化 几 何 数 据 样 条 拟 合 得 到 颞 下 颌 关 节 窝 与 髁 突 接 触 面 . 如 图 13(a) 所 示 , 基 于
Zebris 电子面弓采集受试者大张口过程的下颌骨刚体运动, 并基于贴附在上颌的颌板标记点配
准静态 CT 与运动轨迹数据. 进一步, 基于逆向动力学仿真确定大张口运动过程中的肌束长度变
化, 作为二腹肌等降颌肌群牵张反射的控制目标. 咬肌、颞肌激活度根据实测 EMG 翻正滤波后
由式 (4) 确定. 在此基础上, 通过正向动力学仿真求解降颌肌群激活度与颞下颌关节接触行为, 并
根据最大张口时的二腹肌激活度缩放降颌肌群最大主动肌力 F0mus. 正向仿真能够基本复现下
颌骨与髁突运动轨迹, 仿真得到的下切牙点运动轨迹与 4 名受试者实测结果均方根误差为
3.7 ± 1.3 mm.
在此基础上, 该合作团队结合肌骨动力学仿真与临床生物力学测量, 提出了基于术后早期张
口度预测的口颌植入物初步设计方案. 首先, 基于北京大学口腔医院建立的颌骨肿瘤患者生物力
学信息数据库 (王晶等 2019), 统计患者术后早期的肌肉长度变化、截面积缩减、咀嚼肌峰值
EMG 变化等平均结果, 调整个性化肌骨模型参数与升颌肌群激活度. 在此基础上, 以术前正向动
力学仿真得到的肌肉激活度曲线作为图 13(b) 所示术后早期模型输入, 并改变截骨尺寸、植入
物下颌角等变量, 找到令仿真得到的张口度最大的植入物设计值.
第2期 郭建峤, 王言冰, 田强, 任革学, 胡海岩 : 人体肌骨的多柔体系统动力学研究进展 285
a b
颞肌
EMG
Zebris
电子面弓
咬肌
EMG
图 13
结合生物力学测量与肌骨多体动力学仿真的口颌植入物设计. (a) 下颌骨运动及咀嚼肌 EMG 测
量, (b) 患者术后口颌肌骨动力学模型
5 结论与展望
本文主要针对人体肌骨多柔体系统动力学研究, 较为系统地回顾与总结骨骼肌解剖结构与
生物力学建模、神经与肌肉控制原理与数学描述、肌骨系统动力学问题分类与求解方法、以及
肌骨模型在多学科领域潜在应用等研究进展. 一方面, 人体肌骨系统的多体动力学研究已取得长
足进步; 在骨骼肌主、被动本构关系, 肌肉与骨骼相互作用, 神经−肌肉控制的冗余问题求解, 个
性化建模等重要领域形成了较为完善的研究范式与体系. 另一方面, 已建立的肌骨多柔体动力学
模型能够获得运动生物力学实验难以测定的关节力矩、肌肉内力等信息, 为提高运动能力、避
免运动损伤、加快康复进程提供了数值分析手段, 在临床医学、竞技体育、军事训练、人机工
程等领域具有广泛的应用前景.
然而, 已有研究对人体肌骨多柔体动力学与控制的研究仍有很多不足, 例如: 大多聚焦基于
Hill-Zajac 模型的肌骨系统建模及优化控制算法, 缺乏对骨骼肌微纳米结构与三维几何、肌筋膜
跨肌肉传力、韧带/肌腱黏弹性、神经与肌肉多层级分布控制、肌骨系统与呼吸/血流的耦合
(李娟等 2013) 等问题的深入研究, 如下方向需要开展进一步深入探索:
(1) 复杂真实的骨骼肌建模方法. 基于多柔体系统动力学建模理论, 充分借鉴医学影像学、
解剖学、生物材料力学领域的研究成果, 突破 Hill-Zajac 建模框架的局限性, 赋予骨骼肌以真实
的体积、质量、截面积与激活度分布.
(2) 建立自主智能的肌骨模型. 综合神经与肌肉控制存在的协同性、多级性、肌肉功能差
异、模糊控制等特征, 提出正−逆向耦合肌骨动力学算法, 简化对肌肉的非线性特征描述, 加快计
算效率.
(3) 形成体医工交叉融合平台. 以肌骨动力学模型为计算内核, 面向临床医学、体育工程、
虚拟现实等需求, 构建手术植入物设计工具、运动员智能打分工具、增强现实物理引擎等, 由数
值仿真模型升级为数字孪生人与虚拟设计的共性基础与关键技术.
286 力 学 进 展 2022 年 第 52 卷
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(责任编委: 丁千)
第2期 郭建峤, 王言冰, 田强, 任革学, 胡海岩 : 人体肌骨的多柔体系统动力学研究进展 309
1
MOE Key Laboratory of Dynamics and Control of Flight Vehicle, School of Aerospace Engineering,
Beijing Institute of Technology, Beijing 100081, China
2
Department of Engineering Mechanics, Tsinghua University, Beijing 100084, China
Abstract The human system consists of bones, skeletal muscles, and joints, so the system model
in mechanics is a typical flexible multi-body system. The study on musculoskeletal multi-body dy-
namics mainly aims to determine muscle forces and joint moments together with the effect of their
actions during human locomotion. Thus, it is a multi-disciplinary subject between dynamics and
biomechanics. Musculoskeletal multi-body models have seen successful applications in many fields,
such as clinical research, sports engineering, military training, and ergonomics. The simulation res-
ults of these models can provide important data for improving physical performances, reducing
joint loading and energy consumption, preventing sports injuries, and accelerating rehabilitation
processes. In turn, the achievement of these human-related techniques provides the study of muscu-
loskeletal dynamics with numerous new challenges. This review surveys the literature on the multi-
body dynamics modeling of human musculoskeletal systems. Its contents include the functional
anatomy and biomechanical models of the skeletal muscle, neuromuscular control strategies, and
the computational frameworks for musculoskeletal modeling. The paper also reviews several typic-
al applications of musculoskeletal modeling in the fields of gait analysis, anti-G straining maneuver
of pilots, and mandibular surgical planning. Compared with classical mechanical systems in mech-
anical engineering, the human musculoskeletal system has the characteristics of active force and re-
dundancy control. However, existing muscle models cannot simultaneously consider the anatomic-
al structures and three-dimensional geometries of the muscles together with their biochemical
force-generating mechanism. Meanwhile, most studies have utilized the static optimization assump-
tion to deal with muscle recruitments, neglecting the equilibrium between musculotendon forces
and contraction dynamics. So far, It is still a challenging task to build subject-specific musculo-
skeletal models based on non-invasive in vivo measurements. Future studies on musculoskeletal
multi-body dynamics will achieve a more precise, intelligent, and subject-specific modeling frame-
work, which leads to a hot research topic involving interdisciplinary collaborations of dynamics and
biomechanics.
Keywords musculoskeletal system, flexible multibody dynamics, skeletal muscle, inverse dynamics,
sport biomechanics