Abstract In this work, we extend the modeling techniques of human shoulder-arm musculoskeletal dynamics by 1) proposing an extended model with 12 joint degrees of freedom and 27 muscles (modeled as 42 musculotendinous actuators) that is capable of most physiologically and anatomically possible movements, 2) proposing a forward dynamics model driven by muscle activation, where the scapulothoracic constraint is formulated as an anatomically consistent force field, and 3) applying the state-of-the-art inverse dynamics solution on this model. We experimentally validate it against electromyograms for 10 activities of daily living. This validated shoulder-arm musculoskeletal model may e.g., serve as a reference plant model in studying human motor control or as part of a human simulator in the future.

中文翻译：

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肩胛胸约束人体肩臂肌肉骨骼系统的正向和反向动力学建模

摘要 在这项工作中，我们通过以下方式扩展了人类肩臂肌肉骨骼动力学的建模技术：1) 提出了一个扩展模型，该模型具有 12 个关节自由度和 27 个肌肉（建模为 42 个肌腱执行器），能够进行大多数生理和解剖学上可能的运动, 2) 提出了一个由肌肉激活驱动的前向动力学模型，其中肩胛胸廓约束被表述为解剖学上一致的力场，以及 3) 在该模型上应用最先进的逆动力学解决方案。我们针对 10 项日常生活活动的肌电图对其进行了实验验证。例如，这种经过验证的肩臂肌肉骨骼模型可以用作研究人体运动控制的参考植物模型，或在未来用作人体模拟器的一部分。