Modeling and simulation of musculoskeletal system of human lower limb based on tensegrity structure.

In this paper, a mechanical model of the skeletal muscle of human lower limb system is established by using the Hill muscle model and kinetic equation of the movement of lower extremities according to the attachment positions of skeletal muscle. State vector and neural control are delineated by the direct configuration method. Changes of gait and skeletal muscle stress during walking process are analyzed with energy consumption as objective function. Results illustrate that simulation data are in good agreement with actual walking gait data. Feasibility and correctness of the designed model and control behavior of skeletal muscle tension structure are also verified.

[Research of Kinematics and Kinetics Models of Human Knee Joint].

Human knee joint as a research object, it has become an effective way to establish models of human knee joint. The types of human knee joint models are identified, and each type of model is simply introduced respectively. Focusing on the types of the kinematics and kinetics models of human knee joint on the basis of anatomy, the current research status is detailedly described and comprehensively analyzed at home and abroad correspondingly. Through in-depth study the various kinematics and kinetics models, and their advantages and limitations are discovered. The existing problems are summarized, solution and development trend are also proposed.

Design and optimization of multi-class series-parallel linear electromagnetic array artificial muscle.

Skeletal muscle exhibiting complex and excellent precision has evolved for millions of years. Skeletal muscle has better performance and simpler structure compared with existing driving modes. Artificial muscle may be designed by analyzing and imitating properties and structure of skeletal muscle based on bionics, which has been focused on by bionic researchers, and a structure mode of linear electromagnetic array artificial muscle has been designed in this paper. Half sarcomere is the minimum unit of artificial muscle and electromagnetic model has been built. The structural parameters of artificial half sarcomere actuator were optimized to achieve better movement performance. Experimental results show that artificial half sarcomere actuator possesses great motion performance such as high response speed, great acceleration, small weight and size, robustness, etc., which presents a promising application prospect of artificial half sarcomere actuator.