构建可变形足部模型，提升人体步态仿真的真实性和稳定性。
Contact-Rich and Deformable Foot Modeling for Locomotion Control of the Human Musculoskeletal System
- 设计多点接触、可变形的足部模型，增强与地面交互的物理真实性。
- 通过双阶段策略训练，使模型自然行走并显著改善步态稳定性。
- 仿真结果逼近真人数据，适用于机器人足部控制等场景。
人体足部在运动过程中是身体与环境的关键接口。现有肌肉骨骼模型通常过度简化足地接触力学，限制了对真实步态动力学的模拟。本文开发了一种集成于完整肌肉骨骼系统中的新型接触丰富且可变形的人体足部模型，能够捕捉行走过程中的复杂生物力学交互。为克服多点接触与可变形材料建模带来的控制难题，提出两阶段策略以学习自然行走模式。与传统刚性肌肉骨骼模型相比，本方法在运动学、动力学及步态稳定性指标上均有提升。与真人受试者数据对比验证表明，仿真结果高度复现真实生物力学测量。该工作推进了人体肌肉骨骼系统中接触丰富的界面建模，并建立了一个可扩展至需要精确足地交互控制的人形机器人应用的稳健框架。
原文摘要 · Abstract (English)
The human foot serves as the critical interface between the body and environment during locomotion. Existing musculoskeletal models typically oversimplify foot-ground contact mechanics, limiting their ability to accurately simulate human gait dynamics. We developed a novel contact-rich and deformable model of the human foot integrated within a complete musculoskeletal system that captures the complex biomechanical interactions during walking. To overcome the control challenges inherent in modeling multi-point contacts and deformable material, we developed a two-stage policy training strategy to learn natural walking patterns for this interface-enhanced model. Comparative analysis between our approach and conventional rigid musculoskeletal models demonstrated improvements in kinematic, kinetic, and gait stability metrics. Validation against human subject data confirmed that our simulation closely reproduced real-world biomechanical measurements. This work advances contact-rich interface modeling for human musculoskeletal systems and establishes a robust framework that can be extended to humanoid robotics applications requiring precise foot-ground interaction control.
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