构建含韧带的肩关节仿真模型，用于分析运动稳定性与肌肉受力分布。
Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control
- 构建包含韧带、锁骨与肩胛骨的肩关节详细仿真模型。
- 验证结果显示韧带在初始运动中起稳定作用，合理分配肌力可均衡各肌负荷。
- 适合机器人运动控制与人体运动分析研究者参考。
人类在体育和武术中展现出复杂的躯体运用能力，人体运动分析是机器人本体设计与控制的有效工具。然而，由于众多肌肉与软组织（尤其是韧带）的影响，精确测量复杂运动仍具挑战。尽管已有多种肌骨仿真系统应用于运动分析与机器人领域，但现有模型均未包含韧带，也缺乏对肩关节复合体（含锁骨与肩胛骨）的专门建模。为此，本研究构建了包含韧带的肩关节复合体详细仿真模型，不仅模拟骨骼结构、肌肉排列，还还原韧带布局及最大肌力。基于该模型采用模型预测控制方法进行验证，结果表明：韧带在初始运动阶段显著增强关节稳定性；合理分配最大肌力可有效均衡各肌肉负荷，证明该仿真的有效性。
原文摘要 · Abstract (English)
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy, and it is difficult to measure complex body motions in detail due to the influence of numerous muscles and soft tissues, mainly ligaments. In response, various musculoskeletal simulators have been developed and applied to motion analysis and robotics. However, none of them reproduce the ligaments but only the muscles, nor do they focus on the shoulder complex, including the clavicle and scapula, which is one of the most complex parts of the body. Therefore, in this study, a detailed simulation model of the shoulder complex including ligaments is constructed. The model will mimic not only the skeletal structure and muscle arrangement but also the ligament arrangement and maximum muscle strength. Through model predictive control based on the constructed simulation, we confirmed that the ligaments contribute to joint stabilization in the first movement and that the proper distribution of maximum muscle force contributes to the equalization of the load on each muscle, demonstrating the effectiveness of this simulation.
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