CN114403860B

CN114403860B - Evaluation method and terminal for upper limbs running on way of straight road

Info

Publication number: CN114403860B
Application number: CN202210070320.9A
Authority: CN
Inventors: 范毅方; 徐剑光; 杨帆; 范雨舟; 黄国豪; 余根宇; 肖晓歌; 李知宇
Original assignee: Fujian Normal University
Current assignee: Fujian Normal University
Priority date: 2022-01-21
Filing date: 2022-01-21
Publication date: 2023-07-07
Anticipated expiration: 2042-01-21
Also published as: CN114403860A

Abstract

According to the evaluation method and the terminal for the upper limbs in the straight-way running, disclosed by the invention, after the bilateral upper limb swing is simplified into the two triple swing structures only comprising the hand, the forearm and the upper arm, the Lagrange quantity describing each link of the upper limb swing is established, so that the calculation complexity is reduced, and the accuracy of the upper limb movement calculation is ensured; and establishing a Lagrange equation of the upper limb movement based on the Lagrange principle and the parallel axis principle so as to substitute Lagrange quantities of all links into the Lagrange equation to obtain Lagrange quantities of the upper limbs on the left side and the right side. Based on the Lagrange equation and the calculated Lagrange amounts of the left and right upper limbs, the evaluation is carried out by means of a virtual simulation method, so that the work efficiency of the upper limbs in straight running can be evaluated, and data support is provided for optimization of the upper limbs in straight running.

Description

Evaluation method and terminal for upper limbs running on way of straight road

Technical Field

The invention relates to the technical field of biological simulation, in particular to an evaluation method and terminal for upper limbs running on the way of a straight road.

Background

The biggest differences between bipedal and quadruped walking are generally considered in the prior art: the actions of standing and walking and running on feet mainly depend on lower limbs, and upper limbs are used for manipulating instruments. However, this is not the case, and chimpanzees began hand and foot use approximately 4000 years ago, manipulating stones, wood sticks to smash nuts, thereby creating skills for simultaneous hand and foot manipulation of the device, which have heretofore been imprinted in the muscle memory of the black-and-dry national park chimpanzee (Fothergill, et al 2012). Is the hand also engaged in bipedal running work, since the foot is engaged in the work of the hand-operated apparatus? How do it? Thus, taking the straight-way running technique as an example, it is necessary to know what the technical characteristics of the straight-way running upper limb are.

With respect to straight-way running techniques, existing specialized exercises are mainly focused on the lower limbs. Such as running with little step, running with high leg lifting, running with wheels, running with back pedal, running with cross step, etc. Regarding hands, there are few special exercises other than semi-fist making and finger stretching. During running, how to evaluate the work efficiency of the upper limb output and how to increase the work efficiency are unknown.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: provided are a method and a terminal for evaluating an upper limb running in a straight path, which can provide a model for evaluating an upper limb running in a straight path.

In order to solve the technical problems, the invention adopts the following technical scheme:

an evaluation method of upper limbs in straight-way running comprises the following steps:

simplifying bilateral upper limb swing into two triple swing structures only comprising a hand, a forearm and an upper arm, and establishing Lagrange quantities describing each link of upper limb swing;

establishing a Lagrangian equation of the upper limb movement based on the Lagrangian principle and the parallel axis principle;

substituting the Lagrangian quantities of all links into the Lagrangian equation to obtain Lagrangian quantities of the upper limbs on the left side and the right side;

based on the Lagrangian equation and the Lagrangian amounts of the left and right upper limbs, performing a simulation experiment to obtain an experimental result, and analyzing the experimental result to obtain an upper limb evaluation result of running in the straight road.

In order to solve the technical problems, the invention adopts another technical scheme that:

the evaluation terminal for the straight-path on-the-way running upper limb comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes the evaluation method for the straight-path on-the-way running upper limb when executing the computer program.

The invention has the beneficial effects that: after simplifying the bilateral upper limb swing into two triple swing structures only comprising a hand, a forearm and an upper arm, establishing Lagrange quantities describing each link of the upper limb swing, reducing the calculation complexity and simultaneously ensuring the accuracy of the upper limb movement calculation; and establishing a Lagrange equation of the upper limb movement based on the Lagrange principle and the parallel axis principle so as to substitute Lagrange quantities of all links into the Lagrange equation to obtain Lagrange quantities of the upper limbs on the left side and the right side. Based on the Lagrange equation and the calculated Lagrange amounts of the left and right upper limbs, the evaluation is carried out by means of a virtual simulation method, so that the work efficiency of the upper limbs in straight running can be evaluated, and data support is provided for optimization of the upper limbs in straight running.

Drawings

FIG. 1 is a flow chart showing the steps of a method for evaluating an upper run limb during straight-path according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a structure of an evaluation terminal for upper limbs running on the way in a straight road according to an embodiment of the present invention;

FIG. 3 is a schematic diagram showing the change of angular displacement of each link of the upper limb movement in the second embodiment;

FIG. 4 is a diagram showing the change of the centroid linear displacement of each link of the upper limb movement in the second embodiment;

FIG. 5 is a diagram showing the linear velocity change of each link of the upper limb movement in the second embodiment;

FIG. 6 is a graph showing the linear acceleration change of each link of the upper limb movement in the second embodiment;

FIG. 7 is a diagram showing the change of angular velocity of each link of the upper limb movement in the second embodiment;

FIG. 8 is a graph showing the change of angular acceleration of each link of the upper limb movement in the second embodiment;

FIG. 9 is a diagram showing the centrifugal force variation of each link of the upper limb movement in the second embodiment;

FIG. 10 is a diagram showing the variation of centrifugal force components of each link of the upper limb movement in the second embodiment;

FIG. 11 is a diagram showing the variation of the resultant force of centrifugal force in each link of the upper limb movement in the second embodiment;

fig. 12 is a diagram showing the swing force change from back to front of the arm in the force generated by the swing of the upper limb before the swing of the hand is not added in the second embodiment;

fig. 13 is a diagram showing the swing force change of the arm from front to back in the force generated by the swing of the upper limb before the swing of the hand is not added in the second embodiment;

FIG. 14 is a diagram showing the resultant force variation of the swing of the arm in the force generated by the swing of the upper limb before the swing is not added to the hand in the second embodiment;

fig. 15 is a diagram showing the change of the swing force of the upper limb from back to front after the positive hand ball killing action of the hand in the second embodiment;

fig. 16 is a diagram showing the change of the swing force of the upper limb from front to back after the positive hand ball killing action of the hand in the second embodiment;

fig. 17 is a diagram showing the resultant force variation of the swing of the upper killer limb of the hand in the second embodiment;

FIG. 18 is a chart of a test report of 2021, 11, 19 in example III;

FIG. 19 is a chart of a test report of example three, 2021, 11, 26;

FIG. 20 is the forward kinetics results of two tests in example three;

description of the reference numerals:

1. an evaluation terminal for upper limbs running on the way of a straight road; 2. a memory; 3. a processor.

Detailed Description

In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention provides a method for evaluating an upper limb running on the way of a straight road, including the steps of:

From the above description, the beneficial effects of the invention are as follows: after simplifying the bilateral upper limb swing into two triple swing structures only comprising a hand, a forearm and an upper arm, establishing Lagrange quantities describing each link of the upper limb swing, reducing the calculation complexity and simultaneously ensuring the accuracy of the upper limb movement calculation; and establishing a Lagrange equation of the upper limb movement based on the Lagrange principle and the parallel axis principle so as to substitute Lagrange quantities of all links into the Lagrange equation to obtain Lagrange quantities of the upper limbs on the left side and the right side. Based on the Lagrange equation and the calculated Lagrange amounts of the left and right upper limbs, the evaluation is carried out by means of a virtual simulation method, so that the work efficiency of the upper limbs in straight running can be evaluated, and data support is provided for optimization of the upper limbs in straight running.

Further, the simplifying the double-sided upper limb swing to two triple swing structures including only a hand, a forearm and an upper arm includes:

the swing of the upper limbs on two sides is simplified into two triple swing structures which only comprise hands, forearms and upper limbs and rotate around the same virtual pivot of the upper limbs, and the virtual pivot of the upper limbs is positioned at a shoulder joint, so that the upper limbs can only move around the shoulder joint.

The above description shows that the structure of the upper limb is simplified, the upper limb is limited to move around the shoulder joint, and the virtual pivot of the upper limb is introduced, so that the upper limb on two sides needs to rotate around the same pivot, the upper limb is simplified into two triple pendulum structures, and the calculation accuracy can be ensured while the calculation is reduced.

Further, the establishing the lagrangian quantity describing each link of the upper limb swing comprises:

coordinates of the upper left arm, the forearm and the hand centroid are respectively set as follows:

the coordinates of the upper right arm, forearm and hand centroid are respectively: />

The lengths of the left upper arm, forearm and hand are respectively: />

The lengths of the right upper arm, forearm and hand are respectively: />

The included angles between the left upper arm and the trunk, the front arm and the upper arm, and the hand and the front arm are respectively:

the included angles between the right upper arm and the trunk, the forearm and the upper arm, and the hand and the forearm are respectively: />

The ratio of the center of mass of the left upper arm, forearm and hand to the shoulder, elbow and wrist, respectively, is: />

The ratio of the center of mass of the right upper arm, forearm and hand to the shoulder, elbow and wrist, respectively, is: />

Simplifying the swing of the upper limb into planar motion on a rectangular coordinate system, and respectively establishing Lagrange quantities of all links:

from the above description, when the upper limb swings, the x and y coordinates of the left and right upper arms, the forearm and the centroid of the hand respectively establish the lagrangian quantities, so that the overall lagrangian quantities of the left and right upper limbs can be calculated conveniently.

Further, the establishing the Lagrangian equation of the upper limb movement based on the Lagrangian principle and the parallel axis principle comprises:

based on the Lagrange principle and the parallel axis principle, establishing a Lagrange equation of the upper limb movement:

in the method, in the process of the invention,

the Lagrangian amount is represented, T represents kinetic energy, and V represents potential energy; />

Representing the kinetic energy of the upper arm, forearm and hand on the left side, respectively, < >>

Respectively representing the kinetic energy of the upper arm, the forearm and the hand on the right side; />

Representing the potential energy of the upper arm, forearm and hand on the left side, respectively, < >>

Respectively represent the potential energy of the upper arm, forearm and hand on the right.

From the above description, it can be known that, by establishing the lagrangian equation of the upper limb movement, the total potential energy, the total kinetic energy and the total lagrangian quantity of the upper limb movement can be obtained, so that the overall lagrangian quantities of the upper limbs on the left side and the right side can be calculated conveniently.

Further, substituting the lagrangian quantities of the links into the lagrangian equation to obtain the lagrangian quantities of the left and right upper limbs includes:

substituting Lagrangian quantities of all links into the Lagrangian equation:

in the method, in the process of the invention,

lagrangian amounts of left and right upper limbs, respectively>

Representing the mass of the left upper arm, forearm and hand, respectively,/->

Representing the mass of the right upper arm, forearm and hand, respectively; />

Representing the moment of inertia of the left upper arm, forearm and hand, respectively, < >>

Representing the moment of inertia of the right upper arm, forearm and hand, respectively.

From the above description, the lagrangian quantities of each link are substituted into the lagrangian equation to obtain lagrangian quantities of the left and right upper limbs, so that the subsequent simulation and evaluation of the upper limbs running in the straight road are facilitated.

Further, analyzing the experimental result to obtain an upper limb evaluation result of the running in the straight road comprises the following steps:

and according to the upper limb evaluation result, introducing each link of the upper limb swing corresponding to the evaluation result exceeding a preset value into the target upper limb swing running in the straight path.

From the above description, each link of the corresponding upper limb swing, the evaluation result of which exceeds the preset value, is introduced into the target upper limb swing of the straight running, so that the upper limb work efficiency of the straight running can be improved.

Further, after analyzing the experimental result to obtain the upper limb evaluation result of the running in the straight road, the method further comprises the following steps:

and determining an upper limb movement technical paradigm by using a dichotomy based on the Lagrangian equation and the Lagrangian amounts of the left and right upper limbs.

From the above description, the upper limb movement technical paradigm is determined by using a dichotomy, and the optimal upper limb movement technology can be found by a numerical approximation mode.

Referring to fig. 2, an evaluation terminal for an upper limb running in a straight path includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the above-mentioned evaluation method for an upper limb running in a straight path when executing the computer program.

The evaluation method and the terminal for the upper limbs in the straight-way running process are suitable for learning and controlling the professional motor skills in the field of sports, such as sports science, sports training, sports education and the like; gait analysis and control in the biomechanics and exercise rehabilitation engineering field; gait analysis and control of sports prescription design in the field of sports rehabilitation in the medical field and sports medicine; and the optimization design of running shoes and nailing shoes aiming at the mechanical coupling between the swing technology of the upper limbs in running and the feet, shoes and supporting surfaces. The technical characteristics of the upper limbs running on the way of the straight road can be obtained, and the running on the way of the straight road can be quantitatively evaluated. The following description is made by way of specific embodiments:

example 1

Referring to fig. 1, a method and a terminal for evaluating an upper limb running in a straight path include the steps of:

s1, simplifying the bilateral upper limb swing into two triple swing structures only comprising a hand, a forearm and an upper arm, and establishing Lagrange quantities describing each link of the upper limb swing.

S11, simplifying the structure of the upper limb.

In particular, the upper limb is constrained to rotate only about the shoulder joint, and in order to form an associated rotation system, an upper limb virtual fulcrum (virtual pivot point) is introduced, i.e. the bilateral upper limb rotates about the same fulcrum. In this way, the upper limb can be simplified to a two triple pendulum (triple pendulom) structure comprising only the hand, forearm and upper arm.

S22, establishing Lagrangian quantities describing each link of upper limb swing.

Let the origin of the cartesian coordinate system be on the shoulder and the origins of the shoulders overlap. Let the coordinates of the left upper arm, forearm and hand centroid be respectively:

The lengths of the left upper arm, forearm and hand are respectively:

the lengths of the right upper arm, forearm and hand are respectively: />

The included angles between the left upper arm and the trunk, the front arm and the upper arm, and the hand and the front arm are respectively: />

The ratios of the centers of mass of the left upper arm, forearm and hand to the shoulder, elbow and wrist respectively are: />

The ratio of the center of mass of the right upper arm, forearm and hand to the shoulder, elbow and wrist, respectively, is:

the included angle between links is used as the generalized coordinate of the system, and the swing is simplified into O _xy Respectively establishing Lagrangian quantities of all links as follows:

s2, based on the Lagrange principle and the parallel axis principle, the Lagrange equation is obtained as follows:

in the method, in the process of the invention,

the Lagrangian amount is that T is kinetic energy and V is potential energy; />

The kinetic energy of the upper arm, forearm and hand on the left side, respectively, < >>

The kinetic energy of the upper arm, the forearm and the hand on the right side respectively; />

The potential energy of the upper arm, forearm and hand on the left side, respectively, < >>

The potential energy of the upper arm, the forearm and the hand on the right side respectively.

S3, substituting the Lagrangian quantities of all links into the Lagrangian equation to obtain Lagrangian quantities of the left and right upper limbs.

Specifically, in the present embodiment, the mass of the left upper arm, forearm and hand are respectively:

the mass of the right upper arm, forearm and hand are respectively: />

The moments of inertia of the left upper arm, forearm and hand are respectively:

the moment of inertia of the right upper arm, forearm and hand are respectively: />

The Lagrangian quantities of each link are taken into the equation:

in the stride period, the serial numbers of the upper arm, the forearm and the hand are represented by i; by angular displacement theta of upper arm, forearm and hand relative to each other _i Generalized coordinates as lower limb lagrangian quantities; by using

Generalized velocities expressed as links of upper arm, forearm and hand; t is time (time is differentiated, i.e. standardized, thus realizing the comparability of support phase time in different gaits, and is standardized by combining lower limb links, thus realizing the analysis of lower limb standardization by using Lagrange quantities), so that the Lagrange quantities of the left and right upper limbs can be combined with the Lagrange equation to obtain the following equation:

further, the distance from the wrist to the shoulder is calculated by

Representing the distance to the left and right, respectively:

further, calculating the included angle between the rotation radius of the forearm and the wrist joint to the shoulder, and the included angle between the left side and the right side

And S4, based on the Lagrangian equation and the Lagrangian amounts of the left and right upper limbs, performing a simulation experiment to obtain an experimental result, and analyzing the experimental result to obtain an upper limb evaluation result of running in the straight way.

Specifically, in this embodiment, based on the equation lagrangian equation and the lagrangian amounts of the left and right upper limbs, technical evaluation is performed by means of virtual simulation means, and the idea of this embodiment is as follows: since the foot can participate in the movement of the hand's handling instrument, the hand can also work during straight runs.

And introducing each link of the upper limb swing corresponding to the evaluation result exceeding the preset value into the target upper limb swing running in the straight way according to the upper limb evaluation result. In particular, although a single hand only accounts for 0.6% of the body weight (Leva, 1996), the movement ergonomics of the hand are far from the shoulder joint than one would imagine. For example, a positive biocide can increase the speed of a shuttlecock from 5 meters per second to 137 meters per second in 2-3 milliseconds. While in the ball killing process, the hand action is critical (Ramasamy, et al, 2021). Therefore, the ball killing action technology of the handle is introduced into the upper limb swinging technology of running on the way.

The equation based on the dynamics principle can be used as a mathematical model of a straight-way middle running technical paradigm and virtual simulation. Mechanics is the condition under which an object is studied to move or rest under the force. Under the same principle, the initial conditions determine the process of the movement of the upper limbs of the human body, and therefore, different initial conditions determine the advantages and disadvantages of the movement technology. The motion of the double pendulum structure is chaotic (Shinbrot, et al, 2019), and the triple pendulum structure is not exceptional (awrejcecicz, et al, 2019), according to the theory of chaos: 1) The energy always follows the path of least resistance; 2) There is always a fundamental structure that is not normally visible, which determines the path of least resistance. Based on these two features of chaos, a small disturbance is formed by increasing hand movement to realize ideal (chaos, periodicity or stillness) behavior (Boccaletti, et al, 2000), so that the optimal upper limb running technology is a running technology paradigm.

Specifically, there are two approaches to obtaining the technical paradigm: and establishing an objective function, and obtaining an optimization technology by a deduction reasoning method. The other is to adjust parameters (namely, dichotomy) based on equations of the dynamics principle, and find the optimal technology through numerical approximation.

Example two

Referring to fig. 3 to 17, the difference between the present embodiment and the first embodiment is that, taking the upper limb swing during running speed of 9 m/s of an olympic champion as an example, the front and rear data of the target upper limb swing of running in the straight road are compared by introducing each link of the corresponding upper limb swing with the evaluation result exceeding the preset value, specifically:

figure 3 shows that the swing of the upper limb in the front and back of the change of the angular displacement of the three links has symmetry. However, fig. 4 shows that the swing of the upper limb is different from the pendulum clock in the gravitational field ignoring air resistance. The method specifically comprises the following steps: the upper arm and the forearm swing backward sufficiently, and the hand swings forward sufficiently. This pattern of movement indicates that the fore and aft oscillations of the upper limb are dependent on different muscles. Fig. 3 also shows that the hand swings slightly relative to the forearm. It is notable that trunk and head account for 43.46%, 6.94% of body weight, respectively (Leva, 1996), which means that the weight of the forearm accounts for 6.53% of the weight of the extremities, which is obvious from the work efficiency of the extremities in running. Thus, reasonable use of forearm versus hand control may increase the ergonomics of the upper limb during running.

Fig. 3 to 11 also show that: even in the case of the olympic champion, the upper limb swing technique is flawed or lifted. Based on the defect of using forearm muscle groups in the existing straight-way on-the-way running technology, the embodiment adds the upper limb swinging technology of 'ball killing' of hands in the straight-way on-the-way running technology. The method specifically comprises the steps of transplanting a mode of upper limb forearm muscle group working when a badminton is killed by a hand into an upper limb swing technology in the middle of a straight way, enabling the hand to penetrate through the whole swing arm in a grasping gesture, enabling the forearm to swing forwards to be vertical to the ground, enabling the maximum folding gesture of the forearm and the upper arm and enabling the wrist to extend to 30 degrees (the optimal grip strength) to be a forward swing terminal point (the starting point of backward swing); the end point of the backward swing (the start point of the forward swing) is that the upper arm is less than 180 degrees from the horizontal plane, the forearm is about 90 degrees from the upper arm, and the hand bends the wrist in a holding posture to about 90 degrees from the forearm.

Based on the dynamics equation of the upper limb and the data acquired by motion capture, the reverse dynamics analysis of the upper limb can be performed, and based on the anatomical relationship among the links of the upper limb, the relative motion among the links of the upper limb can be subjected to virtual simulation. Therefore, the embodiment can quantitatively analyze the upper limb swing technology in the middle of straight-path running based on the anatomical relation between the hand and the upper arm through the dynamic equation of the upper limb.

Specifically, when one Olympic champion runs at a speed of 9 m/s, the force generated by the swing of the upper limb before the swing is not increased by the hand, as shown in fig. 12 to 14; the swing force of the upper limb is increased from back to front after the swing of the hand, as shown in fig. 15 to 17.

Comparing fig. 14 with fig. 17, by increasing the positive hand ball killing action of the hand, the horizontal force of upper limb swing is increased from-0.190 to-0.187 by 1.579% and the maximum value is increased from 0.118 to 0.246 by 108.475%; the minimum value of the force in the vertical direction is increased from 0.106 to 0.127, the amplification is 19.811%, the maximum value is increased from 0.367 to 0.397, and the amplification is 8.174%.

Finally, the supporting phase time is adjusted to obtain the work efficiency of the upper limb swing during the marathon running. The running speed is 6 m/s, the running frequency is 180 steps/min, the positive ball killing action of the hand is increased, and the force change is as follows: the minimum value of the horizontal force is reduced from-0.108 to-0.114, the decreasing amplitude is 5.085%, the maximum value is increased from 0.122 to 0.130, and the increasing amplitude is 6.115%; the minimum value of the force in the vertical direction is increased from 0.070 to 0.149, the amplification is 114.163%, the maximum value is increased from 0.273 to 0.294, and the amplification is 7.500%.

From this, it is apparent that the upper limb technique of the present invention can ensure an increase in work efficiency of 7.5% or more in the vertical direction even when marathon is performed.

Example III

Referring to fig. 18 to 20, the difference between the present embodiment and the first or second embodiment is that, taking a marathon athlete in a school as an example, each link of the corresponding upper limb swing with an evaluation result exceeding a preset value is introduced into the front and rear data of the target upper limb swing running in the straight path for comparison, specifically:

referring to fig. 18 and 19, the foot pressure and gait parameters of the marathon athlete were tested at the foot research laboratory at the university of fowler's university, 2021, 11, 19. According to the upper limb swing technique in this embodiment, a hand "ball kill" exercise is performed. The exercise is continued for a week with 5-10 km/day running. The foot pressure and gait parameters were tested at day 26 of 11 of 2021 in the laboratory.

Referring to fig. 20, for quantitative analysis, evaluation was performed using a forward dynamics method and lagrangian quantities of left and right upper limbs. The lagrangian quantity at 11 and 19 of 2021 was 13.61 and at 11 and 26 of 2021 was 23.47. The first time was about 2.6 times the weight and the second time was about 3.2 times the weight. The principle of improving running speed by "tightening ankle, increasing force to ground" by wield is that the matching speed in fig. 18 and 19 is the same. Based on the upper limb swing technology of the embodiment, the ground vertical reaction force is increased from 2.6 times to 3.2 times, the step frequency is reduced from 179 steps/min to 157 steps/min due to the same matching speed, the step frequency is reduced by 12.29%, and the step length is increased from 2 meters to 2.3 meters. The step frequency decreases meaning faster speeds, but the step frequency increases exponentially with energy consumption. Therefore, the step frequency of the marathon is strictly controlled, the resilience force of the ground is increased through the swing of the upper limb of the embodiment, a larger step is obtained, and the marathon score can be rapidly improved.

Example IV

Referring to fig. 2, an evaluation terminal for an upper limb running on the way includes a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements each step of the evaluation method for an upper limb running on the way of straight in one of the first to third embodiments when executing the computer program.

In summary, according to the evaluation method and terminal for the upper limbs in the straight-way running, the bilateral upper limb swing is simplified into the two triple swing structures only comprising the hand, the forearm and the upper arm, the Lagrange quantity describing each link of the upper limb swing is established, the calculation complexity is reduced, and meanwhile, the accuracy of the upper limb movement calculation is ensured; and establishing a Lagrange equation of the upper limb movement based on the Lagrange principle and the parallel axis principle so as to substitute Lagrange quantities of all links into the Lagrange equation to obtain Lagrange quantities of the upper limbs on the left side and the right side. Based on the Lagrange equation and the calculated Lagrange amounts of the left and right upper limbs, the evaluation is carried out by means of a virtual simulation method, so that the work efficiency of the upper limbs in straight running can be evaluated, and data support is provided for optimization of the upper limbs in straight running. According to the upper limb evaluation result, each link of the corresponding upper limb swing, the evaluation result of which exceeds a preset value, is introduced into the target upper limb swing of the straight-path on-the-way running, so that in the invention, the ball killing action technology of the handle is introduced into the upper limb swing technology of the straight-path on-the-way running, the speed of the straight-path on-the-way running can be further improved, and the upper limb work efficiency of the straight-path on-the-way running is improved.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.

Claims

1. The method for evaluating the upper limbs in the middle of the straight run is characterized by comprising the following steps:

based on the Lagrangian equation and the Lagrangian amounts of the left and right upper limbs, performing a simulation experiment to obtain an experimental result, and analyzing the experimental result to obtain an upper limb evaluation result of running in a straight path;

the two triple swing structures for simplifying the bilateral upper limb swing to only comprise a hand, a forearm and an upper arm comprise:

the swing of the upper limbs on two sides is simplified into two triple swing structures which only comprise hands, forearms and upper limbs and rotate around the same upper limb virtual pivot, and the upper limb virtual pivot is positioned at a shoulder joint, so that the upper limb can only move around the shoulder joint;

the step of establishing the Lagrangian quantities describing each link of the upper limb swing comprises the following steps:

The lengths of the left upper arm, forearm and hand are respectively: />

The lengths of the right upper arm, forearm and hand are respectively: />

the Lagrangian equation based on the Lagrangian principle and the parallel axis principle is established, and the establishing of the Lagrangian equation of the upper limb movement comprises the following steps:

in the method, in the process of the invention,

Respectively represent the upper parts of the right sidesPotential energy of arm, forearm and hand;

substituting the Lagrangian quantities of all links into the Lagrangian equation to obtain Lagrangian quantities of the left and right upper limbs comprises:

substituting Lagrangian quantities of all links into the Lagrangian equation:

in the method, in the process of the invention,

lagrangian amounts of left and right upper limbs, respectively>

Representing the mass of the left upper arm, forearm and hand, respectively,/->

The moment of inertia of the right upper arm, forearm and hand, respectively;

after analyzing the experimental result to obtain an upper limb evaluation result of running in the straight way, the method comprises the following steps:

according to the upper limb evaluation result, introducing each link of the upper limb swing corresponding to the evaluation result exceeding a preset value into the target upper limb swing running in the straight path;

2. An evaluation terminal for an upper run in straight road, comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor implements the evaluation method for an upper run in straight road of claim 1 when executing the computer program.