考虑舒适度的人体运动仿真算法

在分析了人体自身的运动反馈控制机理的基础上,引入舒适度作为虚拟人体运动控制的性能指标函数,提出了一种基于舒适度优化的虚拟人体运动控制算法,该算法综合考虑了反向运动学、反向动力学以及人体工效学等因素,避免了单纯从动力学方面求解所带来的虚拟人体动画所隐含的力量冲突,提高了仿真结果的真实性和合理性。利用该算法对人体上肢的运动进行了研究,计算结果和实验结果吻合良好。

A Motor Control Algorithm for Virtual Human Considering Comfort Level Optimization

Based on the humans feedback control of motor, comfort level, an ergonomics index has been adopted as the performance function of the motor control for virtual human. An algorithm, taking into account the comfort level, has been proposed for simulation of the human motor. The algorithm, which blends inverse kinematics, inverse dynamics and human ergonomics information, avoids the collision between the human position and strength produced only using the dynamics or kinematics. It enhances the accuracy and reasonability of simulation. The motion of the arm has been studied using the algorithm. Theoretical and experimental results are in good agreement.