CN114724681A - Cervical vertebra rehabilitation training biomechanical simulation analysis method based on Opensim - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及生物仿真领域，具体涉及一种基于Opensim的颈椎康复训练生物力学仿真分析方法。The invention relates to the field of biological simulation, in particular to a biomechanical simulation analysis method for cervical vertebra rehabilitation training based on Opensim.
背景技术Background technique
医学训练疗法(MTT)通过制定系统化的身体运动训练计划，并且根据事先制定的方案在运动训练过程中适时调整训练负荷、间歇时间等训练参数。医学训练疗法要求评估与训练环节均可记录、可量化。Medical training therapy (MTT) formulates a systematic physical exercise training plan, and adjusts training parameters such as training load and interval time in a timely manner during the exercise training process according to the pre-established plan. Medical training therapy requires both assessment and training sessions to be recorded and quantifiable.
现有的对颈椎进行生物力学分析的方法大多是将尸体标本作为测试对象，或者将传感器植入椎间来采集数据，这类方法实施条件严苛、侵入性强，存在着巨大风险，无法将其运用到颈椎康复训练过程中。Most of the existing methods for biomechanical analysis of the cervical spine use cadaveric specimens as test objects, or implant sensors into the intervertebral spine to collect data. It is used in the cervical spine rehabilitation training process.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明的目的在于提供一种基于Opensim的颈椎康复训练生物力学仿真分析方法，以非侵入式的方式探究在颈椎抗阻训练、等长训练等过程中的肌肉激活、肌肉力以及椎间关节的作用力等指标，安全可靠。In view of this, the purpose of the present invention is to provide a biomechanical simulation analysis method for cervical spine rehabilitation training based on Opensim, to explore in a non-invasive manner the muscle activation, muscle strength and other processes during cervical spine resistance training, isometric training, etc. Intervertebral joint force and other indicators, safe and reliable.
为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:
一种基于Opensim的颈椎康复训练生物力学仿真分析方法,包括以下步骤：A biomechanical simulation analysis method for cervical spine rehabilitation training based on Opensim, comprising the following steps:
步骤S1:基于外部康复训练设备的仿真模型结合Opensim头颈部肌肉骨骼模型搭建抗阻训练模型及在不同角度的等长训练模型；Step S1: build a resistance training model and an isometric training model at different angles based on the simulation model of the external rehabilitation training equipment in conjunction with the Opensim head and neck musculoskeletal model;
步骤S2:根据得到的抗阻训练模型及在不同角度的等长训练模型，基于预设仿真方案进行仿真分析，获得肌肉激活、肌肉力及椎间压力数据，进一步获取一段时间训练后的肌肉疲劳程度；Step S2: According to the obtained resistance training model and isometric training models at different angles, carry out simulation analysis based on a preset simulation scheme, obtain muscle activation, muscle strength and intervertebral pressure data, and further obtain muscle fatigue after a period of training. degree;
步骤S3:利用Matlab更新模型肌肉参数，并利用更新肌肉参数的模型进行仿真，生成的结果与没有添加肌肉疲劳的仿真结果作比较并从肌肉激活模式、肌肉疲劳前后各肌群贡献度等方面分析肌肉疲劳对训练效果的影响。Step S3: utilize Matlab to update model muscle parameters, and utilize the model of updating muscle parameters to simulate, the result of generation is compared with the simulation result that does not add muscle fatigue and analyzes from aspects such as muscle activation mode, the contribution of each muscle group before and after muscle fatigue The effect of muscle fatigue on training effect.
进一步的，所述步骤S1具体为：Further, the step S1 is specifically:
步骤S11:利用Solidworks的SimMechanics Link插件导出康复训练设备仿真模型的STL文件及其质量、质量中心、惯性参数的XML文件；Step S11: utilize the SimMechanics Link plug-in of Solidworks to export the STL file of the simulation model of rehabilitation training equipment and the XML file of its mass, center of mass, inertial parameters;
步骤S12:将参数及康复训练设备的仿真模型以Solidworks坐标系下的位置关系添加到Opensim中；Step S12: the simulation model of parameter and rehabilitation training equipment is added in Opensim with the positional relationship under the Solidworks coordinate system;
步骤S13:以Opensim头颈部肌肉骨骼模型为基础，在Notepad++中编辑抗阻训练模型及在不同角度的等长训练模型的属性及位置，模型之间的耦合运动通过样条函数来约束。Step S13: Based on the Opensim head and neck musculoskeletal model, edit the properties and positions of the resistance training model and the isometric training model at different angles in Notepad++, and the coupled motion between the models is constrained by the spline function.
进一步的，所述两模型的具体功能及属性如下：Further, the specific functions and attributes of the two models are as follows:
Opensim肌肉骨骼模型：以关节连接起刚性身体部分，肌肉发力绕着关节运动，以肌肉-肌腱长度lMT、肌肉最大等长收缩力FMO、羽状角α、肌肉激活程度a、肌肉生理横截面积PCSA、肌腱松弛长度lTsS、最适肌纤维长度Lmo肌肉形态参数为基础所建立，用来分析骨骼肌肉几何体的作用、关节运动学、肌肉-肌腱属性对肌力和关节力矩的影响；Opensim musculoskeletal model: the rigid body parts are connected by joints, and the muscles move around the joints. Area PCSA, tendon relaxation length lTsS, optimal muscle fiber length Lmo based on muscle morphological parameters to analyze the effect of skeletal muscle geometry, joint kinematics, and muscle-tendon properties on muscle strength and joint torque;
外部康复训练设备模型：通过调节配重片重量来添加不同的阻抗，对应于仿真模型中则直接通过Notepad++编辑配重片的质量来实现改变阻抗；设备紧贴头部的部分可在不同的角度下固定以用于等长训练限制头颈部的运动范围，在仿真模型中则通过固定相应的角度数值来将限制头部的运动范围以实现不同角度下的等长训练仿真。External rehabilitation training equipment model: by adjusting the weight of the weight plate to add different impedances, corresponding to the simulation model, directly edit the weight of the weight plate through Notepad++ to change the impedance; the part of the device close to the head can be at different angles The lower fixed is used for isometric training to limit the movement range of the head and neck. In the simulation model, the corresponding angle value is fixed to limit the movement range of the head to achieve isometric training simulation at different angles.
进一步的，所述仿真方案包括IMU采集训练者运动数据进行仿真和自定义方案仿真。Further, the simulation scheme includes that the IMU collects the exercise data of the trainer for simulation and custom scheme simulation.
进一步的，所述IMU采集训练者运动数据进行仿真，具体为：Further, the IMU collects the exercise data of the trainer for simulation, specifically:
首先，通过IMU采集训练者的头颈部运动数据，利用Opensim的IMU InverseKinematics Tool将数据转换为可用作仿真输入的.mot文件；First, collect the head and neck motion data of the trainer through the IMU, and use Opensim's IMU InverseKinematics Tool to convert the data into a .mot file that can be used as simulation input;
然后，利用训练者的质量数据对Opensim头颈部肌肉骨骼模型进行缩放得到适应训练者个体差异的模型；Then, use the trainer's quality data to scale the Opensim head and neck musculoskeletal model to obtain a model that adapts to the individual differences of the trainer;
仿真时，模型在各自由度的运动情况取决于通过IMU采集到的训练者的运动数据，配重片的质量通过编辑仿真模型中配重片的质量属性来改变，其值取决于实际抗阻训练所加的重量；During simulation, the movement of the model in each degree of freedom depends on the exercise data of the trainer collected through the IMU. The mass of the weight piece is changed by editing the mass attribute of the weight piece in the simulation model, and its value depends on the actual impedance. weight added for training;
参数和仿真输入文件设置好之后利用Opensim的计算肌肉控制工具(ComputedMuscle Control,CMC)工具计算在当次训练过程中各块肌肉的肌肉力、肌肉激活数据；对于椎间关节压力数据，Opensim平台提供了Expressionbasedbushing元件，建立作用在两个刚体上的力和力矩与刚体间的平移转动之间的关系，其函数关系如下式(1)所示：After the parameters and simulation input files are set, the Computed Muscle Control (CMC) tool of Opensim is used to calculate the muscle force and muscle activation data of each muscle during the current training process; for the intervertebral joint pressure data, the Opensim platform provides The Expressionbased bushing element is used to establish the relationship between the forces and moments acting on the two rigid bodies and the translation and rotation between the rigid bodies. The functional relationship is shown in the following formula (1):
式(1)中，θX,θY,θZ分别是上下两个颈椎椎体间在三个坐标轴上的相对转动值，δX,δY,δZ是三个方向上的平移量，X、Y、Z三个轴分别表示人体前后、上下、左右三个方向，MX,MY,MZ分别表示上下两个椎体在X、Y、Z轴相对转动时产生的力矩大小，FX,FY,FZ分别表示上下两个椎体在X、Y、Z轴相对平移时产生的合力大小，f表示刚度矩阵元素；In formula (1), θX , θY , and θZ are the relative rotation values between the upper and lower cervical vertebrae on the three coordinate axes, respectively, and δX , δY , and δZ are the translations in the three directions. , the three axes of X, Y, and Z represent the front and rear, up and down, and left and right directions of the human body, respectively. MX , MY , and MZ represent the torque generated by the relative rotation of the upper and lower vertebral bodies in the X, Y, and Z axes. , FX , FY , and FZ represent the resultant force generated by the relative translation of the upper and lower vertebral bodies in the X, Y, and Z axes, respectively, and f represents the stiffness matrix element;
利用Expressionbasedbushing元件在仿真模型颈椎椎体间插入式(2)所示的刚度矩阵以建立椎间软组织模型，选择颈椎各椎骨的质量中心作为刚度矩阵的作用点。然后利用Opensim模型仿真软件中的逆向动力学分析工具(Inverse Dynamics,ID)计算出训练过程中的椎间压力数据。The stiffness matrix shown in equation (2) is inserted between the vertebral bodies of the cervical vertebrae in the simulation model by using Expression-based bushing elements to establish the intervertebral soft tissue model, and the center of mass of each vertebra of the cervical vertebra is selected as the action point of the stiffness matrix. Then use the inverse dynamics analysis tool (Inverse Dynamics, ID) in the Opensim model simulation software to calculate the intervertebral pressure data during the training process.
式(2)中
进一步的，所述自定义方案仿真，具体为：采用控制变量法逐一改变各参数并依此制定自定义仿真方案，通过仿真结果分析不同情况下的肌肉激活模式及发力情况。Further, the simulation of the custom scheme is specifically: using the control variable method to change each parameter one by one and formulate a custom simulation scheme accordingly, and analyze the muscle activation mode and force exertion under different conditions through the simulation results.
进一步的，所述步骤S3用于确定肌肉疲劳程度的数学模型如下：Further, the mathematical model for determining the degree of muscle fatigue in the step S3 is as follows:
基于力学参数的力-载荷疲劳模型：用于描述肌肉力量如何随时间下降，模型用下式(3)的微分方程描述。Force-load fatigue model based on mechanical parameters: used to describe how the muscle force decreases with time, the model is described by the differential equation of the following equation (3).
式(3)中，Fcem(t)表示随时间变化的肌肉力量值；Fmax为初始最大肌力；FLoad(t)为肌肉的外部负荷，即肌肉需要产生的力；k为肌肉疲劳率。In formula (3), Fcem (t) represents the muscle strength value changing with time; Fmax is the initial maximum muscle force; FLoad (t) is the external load of the muscle, that is, the force that the muscle needs to generate; k is the muscle fatigue Rate.
进一步的，所述步骤S3具体为：Further, the step S3 is specifically:
步骤S31:根据各训练方案的第一次仿真结果中肌肉力数据的文件，肌肉力数据即为训练过程中肌肉的工作负载FLoad(t)；Step S31: according to the file of the muscle force data in the first simulation result of each training scheme, the muscle force data is the working load FLoad (t) of the muscle in the training process;
步骤S32:利用Matlab调用Opensim API中的get_max_isometric_force()函数以获取各块肌肉的初始最大肌力Fmax；Step S32: utilize Matlab to call the get_max_isometric_force() function in theOpensim API to obtain the initial maximum muscle force Fmax of each muscle;
步骤S33:针对颈部不同肌群的易疲劳程度选取不同的k值(0.87～2.15)，结合上述步骤S31和S32所确定的参数及式(3)所描述的数学模型计算出各训练方案下肌肉力量下降的百分比。Step S33: Select different k values (0.87 to 2.15) for the fatigue-prone degrees of different muscle groups in the neck, and calculate the parameters under each training scheme in combination with the parameters determined in steps S31 and S32 and the mathematical model described in formula (3). The percent decrease in muscle strength.
步骤S34:通过在Matlab中调用Opensim API中的set_max_isometric_force()函数以修改模型中疲劳肌肉能产生的最大肌肉力；Step S34: by calling the set_max_isometric_force() function in the Opensim API in Matlab to modify the maximum muscle force that fatigued muscles can produce in the model;
步骤S35:利用更新肌肉参数的模型进行仿真，生成的结果与没有添加肌肉疲劳的仿真结果作比较并从肌肉激活模式、肌肉疲劳前后各肌群贡献度等方面分析肌肉疲劳对训练效果的影响。Step S35: use the model for updating muscle parameters to simulate, the generated results are compared with the simulation results without muscle fatigue, and the influence of muscle fatigue on the training effect is analyzed from the aspects of muscle activation mode, the contribution of each muscle group before and after muscle fatigue, and the like.
本发明与现有技术相比具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
1、本发明以非侵入式的方式探究在颈椎抗阻训练、等长训练等过程中的肌肉激活、肌肉力以及椎间压力等指标，安全可靠；1. The present invention explores indicators such as muscle activation, muscle strength, and intervertebral pressure during cervical resistance training, isometric training, etc. in a non-invasive manner, which is safe and reliable;
2、本发明仿真方案多样化，能够在医生制定相应康复训练计划时提供较为全面有力的参考；2. The simulation scheme of the present invention is diversified, and can provide a more comprehensive and powerful reference when a doctor formulates a corresponding rehabilitation training plan;
3、本发明加入肌肉疲劳的仿真分析，在更加符合实际训练过程的同时为医生制定更高效率的训练方案提供参考。3. The present invention adds the simulation analysis of muscle fatigue, which is more in line with the actual training process and provides a reference for doctors to formulate a more efficient training plan.
附图说明Description of drawings
图1是本发明方法流程图；Fig. 1 is the flow chart of the method of the present invention;
图2是本发明一实施例中抗阻训练仿真方案设定示意图；FIG. 2 is a schematic diagram of setting a resistance training simulation scheme in an embodiment of the present invention;
图3是本发明一实施例中肌肉疲劳模拟流程图。FIG. 3 is a flow chart of muscle fatigue simulation in an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明做进一步说明。The present invention will be further described below with reference to the accompanying drawings and embodiments.
请参照图1，本发明提供一种基于Opensim的颈椎康复训练生物力学仿真分析方法,包括以下步骤：Please refer to FIG. 1, the present invention provides a biomechanical simulation analysis method for cervical spine rehabilitation training based on Opensim, comprising the following steps:
1、基于Opensim搭建仿真模型。1. Build a simulation model based on Opensim.
2、根据训练者的质量数据缩放模型得到适应训练者个体差异的模型。2. Scale the model according to the trainer's quality data to obtain a model that adapts to the individual differences of the trainer.
3、利用IMU采集训练者训练的运动数据并将数据通过IMU Inverse KinematicsTool转换为可用作Opensim输入的文件。3. Use the IMU to collect the exercise data of the trainer and convert the data into a file that can be used as Opensim input through the IMU Inverse KinematicsTool.
4、根据实际训练情况更改模型配重片质量并利用第3步的实测运动数据进行训练者实际训练过程的仿真并输出肌肉激活、肌肉力及椎间压力等参数。4. Change the weight of the model according to the actual training situation and use the measured exercise data in step 3 to simulate the actual training process of the trainer and output parameters such as muscle activation, muscle force and intervertebral pressure.
5、手动编辑自定义抗阻和等长训练方案的仿真文件并进行仿真，输出肌肉激活、肌肉力及椎间压力等参数并利用控制变量法分析自定义方案中各参数对不同肌肉激活的影响。5. Manually edit and simulate the simulation files of the custom resistance and isometric training programs, output parameters such as muscle activation, muscle force, and intervertebral pressure, and use the control variable method to analyze the effects of each parameter in the custom program on different muscle activations .
6、利用肌肉疲劳的数学模型对第4步和第5步仿真结果的肌肉力数据确定训练过程中各肌肉的工作负载，进一步确定各肌肉最大肌肉力下降的比例并更改其参数，利用更改参数后的模型进行训练过程中肌肉疲劳的仿真并输出肌肉激活、肌肉力及椎间压力等参数，对比疲劳前后的肌肉激活模型以定量分析肌肉疲劳的影响。6. Use the mathematical model of muscle fatigue to determine the workload of each muscle during the training process based on the muscle force data of the simulation results of the fourth and fifth steps, and further determine the ratio of the maximum muscle force drop of each muscle and change its parameters. The latter model simulates muscle fatigue during training and outputs parameters such as muscle activation, muscle force, and intervertebral pressure, and compares the muscle activation models before and after fatigue to quantitatively analyze the impact of muscle fatigue.
在本实施例中，仿真模型的搭建，具体如下:In the present embodiment, the construction of the simulation model is as follows:
首先，利用Solidworks的SimMechanics Link插件导出康复训练设备仿真模型的STL文件及其质量、质量中心、惯性等参数的XML文件。First, use the SimMechanics Link plug-in of Solidworks to export the STL file of the simulation model of the rehabilitation training equipment and the XML files of its mass, center of mass, inertia and other parameters.
然后，将这些参数及康复训练设备的仿真模型以Solidworks坐标系下的位置关系添加到Opensim中。以Opensim头颈部肌肉骨骼模型为基础，在Notepad++中编辑两模型的属性及位置，模型之间的耦合运动通过样条函数来约束，目的是使其运动更贴合实际训练。Then, these parameters and the simulation model of the rehabilitation training equipment are added to Opensim with the positional relationship under the Solidworks coordinate system. Based on the Opensim head and neck musculoskeletal model, edit the attributes and positions of the two models in Notepad++, and the coupled motion between the models is constrained by spline functions, in order to make the motion more suitable for actual training.
两模型的具体功能及属性如下：The specific functions and properties of the two models are as follows:
Opensim肌肉骨骼模型：以关节连接起刚性身体部分，肌肉发力绕着关节运动，以肌肉-肌腱长度(lMT)、肌肉最大等长收缩力(FMO)、羽状角(α)、肌肉激活程度(a)、肌肉生理横截面积(PCSA)、肌腱松弛长度(lTsS)、最适肌纤维长度(Lmo)等肌肉形态参数为基础所建立。模型建好模型后，就可以用来分析骨骼肌肉几何体的作用、关节运动学、肌肉-肌腱属性对肌力和关节力矩的影响。Opensim musculoskeletal model: The rigid body parts are connected by joints, and the muscles move around the joints. (a) Based on muscle morphological parameters such as muscle physiological cross-sectional area (PCSA), tendon relaxation length (lTsS), and optimal muscle fiber length (Lmo). Model Once the model is built, it can be used to analyze the effect of skeletal muscle geometry, joint kinematics, and muscle-tendon properties on muscle force and joint torque.
外部康复训练设备模型：设备可通过调节配重片重量来添加不同的阻抗，对应于仿真模型中则直接通过Notepad++编辑配重片的质量来实现改变阻抗。设备紧贴头部的部分可在不同的角度下固定以用于等长训练限制头颈部的运动范围，在仿真模型中则通过固定相应的角度数值来将限制头部的运动范围以实现不同角度下的等长训练仿真。External rehabilitation training equipment model: The equipment can add different impedances by adjusting the weight of the weight plate, corresponding to the simulation model, directly edit the weight of the weight plate through Notepad++ to change the impedance. The part of the device close to the head can be fixed at different angles for isometric training to limit the range of motion of the head and neck. In the simulation model, the range of motion of the head is limited by fixing the corresponding angle value to achieve different Isometric training simulation in perspective.
两模型结合构成了最终模型。The two models are combined to form the final model.
在本实施例中，仿真方案的设定及仿真分析，包括：In this embodiment, the setting and simulation analysis of the simulation scheme include:
①IMU采集训练者运动数据进行仿真：首先，通过IMU采集训练者的头颈部运动数据，利用Opensim的IMU Inverse Kinematics Tool将数据转换为可用作仿真输入的.mot文件。然后，利用训练者的质量数据对Opensim头颈部肌肉骨骼模型进行缩放得到适应训练者个体差异的模型。仿真时模型在各自由度的运动情况取决于通过IMU采集到的训练者的运动数据，配重片的质量通过编辑仿真模型中配重片的质量属性来改变，其值取决于实际抗阻训练所加的重量。参数和仿真输入文件设置好之后利用Opensim的计算肌肉控制工具(Computed Muscle Control,CMC)计算在当次训练过程中各块肌肉的肌肉力、肌肉激活数据。对于椎间关节压力数据，Opensim平台提供了Expressionbasedbushing元件，该元件可以建立作用在两个刚体上的力和力矩与刚体间的平移转动之间的关系，其函数关系如下式1所示：①IMU collects the trainer's motion data for simulation: First, collect the trainer's head and neck motion data through the IMU, and use Opensim's IMU Inverse Kinematics Tool to convert the data into a .mot file that can be used as a simulation input. Then, the Opensim head and neck musculoskeletal model is scaled using the trainer's quality data to obtain a model that adapts to the individual differences of the trainer. The movement of the model in each degree of freedom during simulation depends on the exercise data of the trainer collected through the IMU. The mass of the weight piece is changed by editing the mass attribute of the weight piece in the simulation model, and its value depends on the actual resistance training. added weight. After the parameters and simulation input files are set, Opensim's Computed Muscle Control (CMC) is used to calculate the muscle force and muscle activation data of each muscle during the current training process. For the intervertebral joint pressure data, the Opensim platform provides the Expressionbasedbushing component, which can establish the relationship between the forces and moments acting on two rigid bodies and the translation and rotation between the rigid bodies. The functional relationship is shown in
式1中，θX,θY,θZ分别是上下两个颈椎椎体间在三个坐标轴上的相对转动值，δX,δY,δZ是三个方向上的平移量，X、Y、Z三个轴分别表示人体前后、上下、左右三个方向，MX,MY,MZ分别表示上下两个椎体在X、Y、Z轴相对转动时产生的力矩大小，FX,FY,FZ分别表示上下两个椎体在X、Y、Z轴相对平移时产生的合力大小，f表示刚度矩阵元素；In
利用Expressionbasedbushing元件在仿真模型颈椎椎体间插入式(2)所示的刚度矩阵以建立椎间软组织模型，选择颈椎各椎骨的质量中心作为刚度矩阵的作用点。然后利用Opensim模型仿真软件中的逆向动力学分析工具(Inverse Dynamics,ID)计算出训练过程中的椎间压力数据。The stiffness matrix shown in equation (2) is inserted between the vertebral bodies of the cervical vertebrae in the simulation model by using Expression-based bushing elements to establish the intervertebral soft tissue model, and the center of mass of each vertebra of the cervical vertebra is selected as the action point of the stiffness matrix. Then use the inverse dynamics analysis tool (Inverse Dynamics, ID) in the Opensim model simulation software to calculate the intervertebral pressure data during the training process.
式2中
②自定义方案仿真：采用控制变量法逐一改变各参数并依此制定了一系列自定义仿真方案，通过仿真结果分析不同情况下的肌肉激活模式及发力情况，为医生根据患者情况制定针对部分肌肉的康复训练计划提供参考。自定义方案中可变的参数有阻力大小、各自由度运动范围大小、运动快慢等；这些参数不是由训练者实际训练过程确定，而是通过预设一定的方案，然后手动编辑相应参数及仿真输入文件进行仿真。颈椎抗阻训练仿真模型的运动主要在颈前屈、颈后伸、颈左旋、颈右旋、颈左侧屈、颈右侧屈这六个方向，由于Opensim肌肉骨骼模型在建立时是以正中矢状面对称的，所以本专利选择颈前屈、颈后伸、颈左旋、颈左侧屈这四个方向进行仿真分析。用M表示配重片质量，θ1表示颈前屈的角度，θ2表示颈后伸的角度，θ3表示颈左旋的角度，θ4表示颈左侧屈的角度，则具体的仿真方案设定时参数的变化为：配重片质量M以1Kg为起始，每次仿真增加1Kg直至达到一般患者所能承受的最大重量Mmax-normal(设定为一整数值，单位为Kg)，通过Notepad++或Opensim的GUI界面来编辑实现这一过程；颈前屈每次以中立位为起始，在1s、1.5s和2s时间分别前屈10°、20°、30°，角度变化的时间间隔为0.01s(以1s前屈10°为例，其含义为手动编辑的模型运动文件在前屈自由度上每0.01s运动0.1°直至最大前屈角度10°)；颈后伸每次以中立位为起始，在2s、2.5s和3s时间分别后伸20°、30°、50°，角度变化的时间间隔为0.01s；颈左旋每次以中立位为起始，在2s、2.5s和3s时间分别左旋20°、30°、50°，角度变化的时间间隔为0.01s；颈左侧屈每次以中立位为起始，在1s、1.5s和2s时间分别左侧屈10°、20°、30°，角度变化的时间间隔为0.01s。在这些参数中，每次仿真只改变一个。则自定义仿真方案设定的示意图如下树状图2所示，在每一个阻抗值下通过改变各个自由度的运动范围共有12种仿真方案，所以抗阻训练自定义仿真方案的总数为12×Mmax-normal。②Custom program simulation: The control variable method is used to change the parameters one by one, and a series of customized simulation programs are formulated accordingly. The simulation results are used to analyze the muscle activation mode and force under different conditions, and for doctors to formulate specific parts according to the patient's situation. Muscle rehabilitation training plan provides reference. The variable parameters in the custom plan include the resistance, the range of motion of each degree of freedom, the speed of movement, etc. These parameters are not determined by the trainer's actual training process, but through a preset plan, and then manually edit the corresponding parameters and simulation. Input file for simulation. The motion of the cervical spine resistance training simulation model is mainly in the six directions of neck flexion, neck extension, neck left rotation, neck right rotation, left neck flexion, and right neck flexion. Since the Opensim musculoskeletal model is created in the middle The sagittal plane is symmetrical, so this patent selects four directions of neck flexion, neck extension, left neck rotation, and left neck flexion for simulation analysis. M represents the weight of the weight plate, θ1 represents the angle of neck flexion, θ2 represents the angle of neck extension, θ3 represents the angle of left rotation of the neck, and θ4 represents the angle of left flexion of the neck. The change of timing parameters is: the weight M starts from 1Kg, and each simulation increases by 1Kg until it reaches the maximum weight Mmax-normal that a general patient can bear (set as an integer value, the unit is Kg), This process is implemented by editing the GUI interface of Notepad++ or Opensim; the neck flexion starts from the neutral position each time, and the flexion is 10°, 20°, 30° in 1s, 1.5s, and 2s, respectively, and the time for the angle to change. The interval is 0.01s (take 1s forward flexion 10° as an example, which means that the manually edited model motion file moves 0.1° every 0.01s on the forward flexion degree of freedom until the maximum forward flexion angle is 10°); The neutral position is the starting point, and the extension is 20°, 30°, and 50° at 2s, 2.5s, and 3s, respectively, and the time interval of the angle change is 0.01s. 20°, 30°, and 50° left rotation at s and 3s, respectively, and the time interval of angle change is 0.01s; the left cervical flexion starts from the neutral position each time, and the left side bends for 10 at 1s, 1.5s, and 2s, respectively. °, 20°, 30°, the time interval for angle change is 0.01s. Of these parameters, only one is changed per simulation. The schematic diagram of the custom simulation scheme setting is shown in the following tree diagram 2. There are 12 simulation schemes by changing the motion range of each degree of freedom under each impedance value, so the total number of custom simulation schemes for resistance training is 12×Mmax-normal .
等长训练：等长训练过程由于头颈部始终处于某一位置几乎无运动，所以等长训练的仿真分析不通过IMU采集运动数据进行。在模型中以头颈部中立位为起始，通过将外部康复训练设备仿真模型中与Opensim肌肉骨骼模型所接触部分的角度限制在不同的值来限制头颈部的运动以实现不同姿势下的等长训练。Isometric training: In the isometric training process, since the head and neck are always in a certain position, there is almost no movement, so the simulation analysis of isometric training is not carried out by collecting motion data through the IMU. Starting from the neutral position of the head and neck in the model, the movement of the head and neck is limited by limiting the angle of the contact part of the external rehabilitation training equipment simulation model with the Opensim musculoskeletal model to different values to achieve different postures. Isometric training.
设置好各自定义方案的仿真文件后进行仿真分析，使用的仿真分析工具及方法同上述①中IMU采集训练者运动数据进行仿真的方法，同样也输出肌肉激活、肌肉力及椎间压力等数据。After setting up the simulation files of each custom scheme, carry out simulation analysis. The simulation analysis tools and methods used are the same as the method in the above 1. The IMU collects the exercise data of the trainer for simulation, and also outputs data such as muscle activation, muscle force and intervertebral pressure.
在本实施例中，参考图3，肌肉疲劳的仿真分析，具体为：In this embodiment, referring to Fig. 3, the simulation analysis of muscle fatigue is specifically:
第一步，从各训练方案的第一次仿真结果中找到记录肌肉力数据的文件，肌肉力数据即为训练过程中肌肉的工作负载FLoad(t)。The first step is to find the file that records the muscle force data from the first simulation results of each training program, and the muscle force data is the muscle workload FLoad (t) during the training process.
第二步，利用Matlab调用Opensim API中的get_max_isometric_force()函数以获取各块肌肉的初始最大肌力Fmax。In the second step, use Matlab to call the get_max_isometric_force() function in the Opensim API to obtain the initial maximum muscle force Fmax of each muscle.
第三步，针对颈部不同肌群的易疲劳程度选取不同的k值(0.87～2.15)，结合上述第一步和第二步所确定的参数并利用肌肉疲劳与时间关系的数学模型计算肌肉力量下降的百分比，肌肉力量随时间下降的数学模型描述如下式3所示：The third step is to select different k values (0.87 to 2.15) according to the degree of fatigue of different muscle groups in the neck, combine the parameters determined in the first and second steps above, and use the mathematical model of muscle fatigue and time to calculate the muscle The percentage decrease in strength, the mathematical model for the decrease in muscle strength over time, is described in Equation 3 below:
式3中，Fcem(t)表示随时间变化的肌肉力量值，其改变有以下几个参数决定：(a)初始最大肌力，Fmax；(b)肌肉的外部负荷，肌肉需要产生的力，FLoad(t)；(c)肌肉疲劳率，k。In formula 3, Fcem (t) represents the muscle strength value that changes with time, and its change is determined by the following parameters: (a) the initial maximum muscle strength,Fmax ; (b) the external load of the muscle, the muscle needs to produce. Force, FLoad (t); (c) muscle fatigue rate, k.
初始最大肌力在本方法中取自相关文献的实际测量值，个性化参数修改通过实际训练者的体重进行缩放。肌肉的外部负载在本方法中由各仿真方案第一次仿真结果中的肌肉力数据决定，不同方案的肌肉负载不同。肌肉疲劳率量化了肌肉力量下降的趋势由不同肌群决定，不同的肌群有不同的常数值；k的取值范围为0.87/min～2.15/min，一般情况下k＝1。The initial maximal muscle strength was taken from actual measurements in the relevant literature in this method, and the individual parameter modifications were scaled by the actual trainer's body weight. The external load of the muscle is determined by the muscle force data in the first simulation result of each simulation scheme in this method, and the muscle load of different schemes is different. Muscle fatigue rate quantifies that the decreasing trend of muscle strength is determined by different muscle groups, and different muscle groups have different constant values; the value of k ranges from 0.87/min to 2.15/min, and in general k=1.
第四步，通过在Matlab中调用Opensim API中的set_max_isometric_force()函数以修改模型中疲劳肌肉能产生的最大肌肉力。The fourth step, by calling the set_max_isometric_force() function in the Opensim API in Matlab to modify the maximum muscle force that can be generated by the fatigued muscles in the model.
第五步，利用更新肌肉参数的模型进行仿真，仿真的结果与没有添加肌肉疲劳的仿真结果作比较并从肌肉激活模式、肌肉疲劳前后各肌群贡献度等方面分析肌肉疲劳对训练效果的影响。The fifth step is to use the model with updated muscle parameters for simulation. The simulation results are compared with the simulation results without muscle fatigue, and the influence of muscle fatigue on the training effect is analyzed from the aspects of muscle activation mode and the contribution of each muscle group before and after muscle fatigue. .
以上所述仅为本发明的较佳实施例，凡依本发明申请专利范围所做的均等变化与修饰，皆应属本发明的涵盖范围。The above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.
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