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Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process

Based on the spectral representation method of random function and combined with memoryless nonlinear translation theory, this paper analyzes the transformation relationship between potential Gaussian random process and non-Gaussian random process, and successfully generates a stationary non-Gaussia...

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Autores principales: Zhang, Peng, Baek, Seung-soo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9091170/
https://www.ncbi.nlm.nih.gov/pubmed/35573231
http://dx.doi.org/10.3389/fbioe.2022.884318
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author Zhang, Peng
Baek, Seung-soo
author_facet Zhang, Peng
Baek, Seung-soo
author_sort Zhang, Peng
collection PubMed
description Based on the spectral representation method of random function and combined with memoryless nonlinear translation theory, this paper analyzes the transformation relationship between potential Gaussian random process and non-Gaussian random process, and successfully generates a stationary non-Gaussian random process that conforms to the target non-Gaussian random process. For the non-stationary non-Gaussian random process simulation, on the basis of the stationary Gaussian random process, the intensity non-stationary uniform modulation model is used to modulate it, and combined with the nonlinear translation theory, the non-stationary non-Gaussian random process conforming to the target non-Gaussian random process is obtained. Aiming at the single-leg bouncing model based on the flexible rotary hip joint, the stability of its bouncing motion under passive motion is studied, and the influence of the flexible hip rotary joint on the motion stability is analyzed by comparing the single-leg bouncing motion characteristics of the free rotary hip joint. Based on the inverse dynamic control of the air phase, the fixed point distribution of the single-leg bounce of the flexible rotary hip joint was improved, and the function of the flexible rotary hip joint in the energy conversion of the bouncing motion was studied by establishing the energy consumption evaluation function. The kinematic performance verification, dynamic performance verification, dynamic parameter identification verification, and modal experiment simulation analysis were carried out for the built experimental platform, and the comparison and analysis with its theoretical model were carried out. The results show that the theoretical motion trajectory of the test mobile platform is basically consistent with the actual motion trajectory in the X and Y directions, and there is a small error in the Z-axis direction, and the error is within an acceptable range, indicating that the experimental platform system can be used to simulate the human hip joint. There is a large error between the theoretical value of the driving torque calculated by the theoretical value of the dynamic parameters and the measured value, and the dynamic theoretical model cannot accurately predict the driving torque. The predicted value of the driving torque calculated by using the identification value of the dynamic parameters is in good agreement with the measured torque, and its confidence is increased by 10–16%, indicating that the dynamic parameter identification method in this paper has a high degree of confidence.
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spelling pubmed-90911702022-05-12 Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process Zhang, Peng Baek, Seung-soo Front Bioeng Biotechnol Bioengineering and Biotechnology Based on the spectral representation method of random function and combined with memoryless nonlinear translation theory, this paper analyzes the transformation relationship between potential Gaussian random process and non-Gaussian random process, and successfully generates a stationary non-Gaussian random process that conforms to the target non-Gaussian random process. For the non-stationary non-Gaussian random process simulation, on the basis of the stationary Gaussian random process, the intensity non-stationary uniform modulation model is used to modulate it, and combined with the nonlinear translation theory, the non-stationary non-Gaussian random process conforming to the target non-Gaussian random process is obtained. Aiming at the single-leg bouncing model based on the flexible rotary hip joint, the stability of its bouncing motion under passive motion is studied, and the influence of the flexible hip rotary joint on the motion stability is analyzed by comparing the single-leg bouncing motion characteristics of the free rotary hip joint. Based on the inverse dynamic control of the air phase, the fixed point distribution of the single-leg bounce of the flexible rotary hip joint was improved, and the function of the flexible rotary hip joint in the energy conversion of the bouncing motion was studied by establishing the energy consumption evaluation function. The kinematic performance verification, dynamic performance verification, dynamic parameter identification verification, and modal experiment simulation analysis were carried out for the built experimental platform, and the comparison and analysis with its theoretical model were carried out. The results show that the theoretical motion trajectory of the test mobile platform is basically consistent with the actual motion trajectory in the X and Y directions, and there is a small error in the Z-axis direction, and the error is within an acceptable range, indicating that the experimental platform system can be used to simulate the human hip joint. There is a large error between the theoretical value of the driving torque calculated by the theoretical value of the dynamic parameters and the measured value, and the dynamic theoretical model cannot accurately predict the driving torque. The predicted value of the driving torque calculated by using the identification value of the dynamic parameters is in good agreement with the measured torque, and its confidence is increased by 10–16%, indicating that the dynamic parameter identification method in this paper has a high degree of confidence. Frontiers Media S.A. 2022-04-27 /pmc/articles/PMC9091170/ /pubmed/35573231 http://dx.doi.org/10.3389/fbioe.2022.884318 Text en Copyright © 2022 Zhang and Baek. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Bioengineering and Biotechnology
Zhang, Peng
Baek, Seung-soo
Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title_full Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title_fullStr Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title_full_unstemmed Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title_short Detection and Analysis of Bionic Motion Pose of Single Leg and Hip Joint Based on Random Process
title_sort detection and analysis of bionic motion pose of single leg and hip joint based on random process
topic Bioengineering and Biotechnology
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9091170/
https://www.ncbi.nlm.nih.gov/pubmed/35573231
http://dx.doi.org/10.3389/fbioe.2022.884318
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