人體運動控制模型

The Modeling of Human Body Motor Control

邱靖華

《體育學報》 16期 (1993/12) Pp. 239-258

https://doi.org/10.6222/pej.0016.199312.3316

摘要

本模型建立的目的，主要在模擬運動選手尚未能達成的動作，藉以預先掌握該動作的力學特性，以避免錯誤嘗試及利於設定訓練目標。本模型的理論基礎是建立在Jacobians矩陣及Lagrange方程上，適用於走路、跑步、彈跳等單足支撐期的動作模擬。模擬所須輸入的資料包括：一、初始條件資料：角位移和初角速度，二、控制變數資料：為人體各關節之角速度，三、人體肢體參數。輸出的資料則有人體各肢體質心在固定參考座標系的運動學及動力學資料。

並列摘要

The purpose of this model is mainly to image the movement undone by the player and thus to realize the mechanic property of the movement. As a result, players can avoid making unnecessary efforts and set up their training goal. The theory of the model is based on the Jacobians matrix and Lagrange equation. It can be adopted to model the movement of one-foot support phase in walking, running, and jumping. The data needed in modeling include 1. First Conditon Data: angular displacement and first angular velocity, 2. Control Variable: the angular velocities of joints, 3. Human Body Segment Parameters. The results include the kinematics and dynamics data in inertia reference coordinates, related to center of mass of segments.