CAJ | 학술논문

人体下肢生物力学建模与仿真是穿戴式外骨骼机器人系统开发的一个重要内容。对其研究所获得相关的理论与技术方法对生物动力学、康复医学、假肢及运动康复器械设计等领域的发展具有促进作用。本文以人体下肢生物力系统为研究对象，概括和总结了国内外下肢建模与仿真技术的研究现状，就目前普遍采用的基于Lagrange 方程和角动量定理的多刚体模型法、仿真软件建模法、Hill三元素法、黑箱训练等方法进行了详细的分析，并对研究趋势进行了展望。本文所综述的动力学建模与仿真验证方法对实现穿戴式外骨骼机器人和谐自然人机交互设计具有重要的指导意义。
인체하지생물역학건모여방진시천대식외골격궤기인계통개발적일개중요내용。대기연구소획득상관적이론여기술방법대생물동역학、강복의학、가지급운동강복기계설계등영역적발전구유촉진작용。본문이인체하지생물력계통위연구대상，개괄화총결료국내외하지건모여방진기술적연구현상，취목전보편채용적기우Lagrange 방정화각동량정리적다강체모형법、방진연건건모법、Hill삼원소법、흑상훈련등방법진행료상세적분석，병대연구추세진행료전망。본문소종술적동역학건모여방진험증방법대실현천대식외골격궤기인화해자연인궤교호설계구유중요적지도의의。
The research on the biomechanical modeling and simulation of human lower limbs is an important content in the development of wearable exoskeleton robots.Theoretical and technical methods derived from this research can promote the process of biomechanics, rehabilitation medicine and prosthetic/orthotic devices.This work reviews the state-of-the-art techniques for modeling and simulating biomechanics of human lower limbs and makes analysis of popular methods, such as multi-body modeling , simulation software modeling, Hill three elements modeling and black box training modeling based on Lagrange equation and theorem of angular momentum.The future prospects in this research field are also provided in this paper.The biomechanical modeling and simulating methods discussed is of great significance to the design of naturally harmonious human-robot interaction of wearable exoskeleton robots.