基于舒适度最大化的人体运动控制

在分析人体自身运动反馈控制机理的基础上，引入舒适度作为人体运动控制的性能指标函数，提出了一种基于舒适度最大化的人体运动控制算法．该算法综合考虑了运动学、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．最后，用实验验证了文中算法的有效性．该算法为设计安全舒适的人体动作和作业提供了一定的参考依据．

Computational Simulation of Human Motion Based on Comfort Level Maximization

Based on the human's feedback control of motion, comfort level, an ergonomics index was adopted as the performance function of the human motion control. An algorithm in maximizing the comfort level of human body was proposed for simulating the human movement. The algorithm, which blends inverse kinematics, inverse dynamics and human ergonomics information, avoids the collision between the human position and strength produced only by using the dynamics or kinematics. It enhances the accuracy and reasonability of simulation. Human lifting activity was simulated utilizing the algorithm and the theoretical results were tested by the experimental data. The simulation result could provide some guidelines for the design of human activity to prevent from work-related injuries and improve productivity.