Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
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An Inverse Dynamic Analysis of Lower Limbs During Gait

보행 중 하지 관절의 역동역학 해석

  • Published : 2004.08.01
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Abstract

An inverse dynamic model of lower limbs is presented to calculate joint moments during gait. The model is composed of 4 segments with 3 translational joints and 12 revolute joints. The inverse dynamic method is based on Newton-Euler formalism. Kinematic data are obtained from 3 dimensional trajectories of markers collected by a motion analysis system. External forces applied on the foot are measured synchronously using force plate. The use of developed model makes it possible to calculate joint moments for variation of parameters.

보행 중 각 관절의 모멘트를 계산하기 위한 역동역학 모델을 개발하였다. 모델은 1개의 상체와 3개의 체절로 하지를 구성하였고 3개의 병진 조인트와 12개의 회전조인트로 각 체절을 연결하고 뉴턴-오일러 방법으로 역동역학 해를 구하였다. 입력자료로서의 기구학적 사료는 3차원 동작분석 시스템에서 추출하였고 외력으로서 지면 반발력은 동기화한 힘측정판에서 구했다. 개발된 모델을 이용하여 비대칭 모델이나 질량중심의 이동을 포함한 해석 등 다양한 인체운동 해석이 가능하다.

Keywords

References

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