CN114139378B - Muscle time-varying mechanical modeling method and device considering morphological changes, and electronic equipment - Google Patents
Muscle time-varying mechanical modeling method and device considering morphological changes, and electronic equipment Download PDFInfo
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Abstract
The application discloses a muscle time-varying mechanical modeling method and device considering morphological changes and electronic equipment, wherein the method comprises the following steps: muscle active tension modeling, muscle passive tension modeling, muscle elastic modulus fitting, and elastic tissue modeling. Based on the physiological structural characteristics of skeletal muscles, the application provides a muscle model comprising an active contraction inner core of central muscle fibers, a passive elastic outer membrane structure and elastic tissue structures arranged at two ends, and on the basis, active tension and passive tension modeling, muscle variable elastic modulus fitting, elastic tissue modeling and serial model establishment taking muscle morphological change into consideration are carried out. The application takes active and passive tension as an entry point, completes the establishment of a time-varying mechanical model of the muscle, reveals the mechanical phenomenon and characteristics in the muscle actuation process, takes the skeletal muscle structural characteristics as a modeling basis, has better applicability to single-beam muscles and muscle joints, and has good universality for realizing the simulation of mechanical properties and appearance contours.
Description
Technical Field
The application relates to the technical field of environmental sanitation equipment, in particular to a muscle time-varying mechanical modeling method, device, equipment and medium considering morphological changes.
Background
A central problem with muscle actuation is the need to establish the relationship between myotonic-muscular tension. Physiologically, muscle tension can be divided into passive tension and active tension. The tension present before the contraction of the muscle becomes passive tension, and when the muscle is pulled, the passive tension of the muscle fiber in the relaxed state is increased, because the myotonin is pulled, and the muscle fiber gradually stretches, not caused by the active movement of the bridge. If the muscle fibers are fixed at both ends and stimulus is applied to the muscle fibers, the force generated by contraction of the muscle fibers becomes active tension. Active tension is generated by the active action of the bridge and actin. Muscle contraction and active tension are derived from the reciprocating swing of the transverse bridge and are controlled by action potentials conducted along the muscle membrane, and the active control is dependent on living beings under any length, so that the measurement of the active force is represented by the maximum value of the active force of the current length of the muscle active force.
Muscle modeling is divided into two types, namely an experimental method and a theoretical model. In the experimental method, although the muscle research has been carried out for a considerable time, the muscle force of the living body is still difficult to measure, and the general experimental method is to dissect the muscle and apply the stimulating electrical signal. The measurement structure shows that the muscle force is divided into active force and passive force, the active force shows that the muscle force is maximum in a muscle resting state, and the muscle force is reduced along with the increase or decrease of the length. When the length of the muscle is greater than the resting length, the muscle itself exhibits tensile elasticity in the direction of stretching, while when the length is less than the resting length, the muscle does not exhibit tensile elasticity, i.e., is not represented by power.
Currently, muscle mechanics modeling is the leading field of research, and has guiding effect on the display of human body movement mechanism and the design and manufacture of a soft mechanical arm. The existing modeling method models from two angles of tension-length relation and outer contour:
1) Pure length-tension relationship. The Huxley and Hill models are based on the assumption that springs are not explained for the fact that the amount of tension the muscle provides when compressed contracts is almost zero, while at the same time the models are limited to one dimension and these measurement studies on the amount of force have little description of the shape of the muscle, in particular the radial profile.
2) Rope modeling method. The muscle is modeled as a plurality of inhaul cables, the characteristic that the main action mechanism of the muscle is pulling the bone is reduced, but the method does not consider the volume and the appearance outline of the muscle as the pure length-tension model, and meanwhile, the relation of main and passive forces when the muscle is exerting force cannot be distinguished.
3) Modeling method of appearance description. The method is only used as a post-treatment display, and does not relate to the mechanical characteristics of the muscles in the movement process, and the magnitude of the force and the magnitude of the main and passive forces can not be given.
Disclosure of Invention
On one hand, the embodiment of the application provides a muscle time-varying mechanical modeling method considering morphological changes, so as to solve the technical problems of poor applicability, insufficient accuracy and poor expansibility of a model obtained by the existing modeling method.
The technical scheme adopted by the application is as follows:
a method of modeling muscle time-varying mechanics taking into account morphological changes, comprising the steps of:
Muscle active tension modeling: setting a central muscle fiber active contraction inner core in the center of the model, wherein the central muscle fiber active contraction inner core has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core is provided with a passive elastic outer membrane structure, the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle, and the active tension under different expansion rates is obtained by piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
Modeling of muscle passive tension: according to the length, radius and passive elastic outer membrane structure thickness value of the model before and after stretching/stretching during muscle active tension modeling, calculating to obtain the passive tension of the model;
Fitting of muscle elastic modulus: according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure and the current passive tension, the elastic modulus of the passive elastic outer membrane structure is obtained through fitting of multiple groups of data;
Modeling elastic tissue: elastic tissue structures are arranged at two ends of the model and used for connecting muscle fibers and bones to reflect elastic fibers and amorphous matrixes contained at two ends of the muscle fibers, and the elastic tissue structures are main undertakers of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structures are also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissue is fixed.
Further, the method for calculating the passive tension of the model according to the length, the radius and the passive elastic outer membrane structure thickness value of the model before and after stretching/stretching during the modeling of the active tension of the muscle specifically comprises the following steps:
Assuming that the original length of the muscle fiber tissue is l 0, the radius is r 0, the thickness of the passive elastic outer membrane structure is h 0, the length of the muscle fiber tissue after the muscle is stretched/expanded is l t, the radius is r t, the thickness of the passive elastic outer membrane structure is h t, and then the active contraction inner core volume V c and the active contraction inner core volume V s of the central muscle fiber are respectively:
Wherein:
calculating the cross-sectional area S cht of the passive elastic outer membrane structure in the elongation state as
Scht＝πht(ht+2rt)
The passive tension F s can thus be expressed as:
Further, the obtaining the elastic modulus of the passive elastic outer membrane structure by fitting multiple groups of data according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure and the current passive tension specifically comprises the following steps:
Assuming that the elastic modulus E is a quadratic function with respect to length and current passive force, the elastic modulus can be described as:
Et＝f(FN,ε)＝aFN 2+bε2+cFNε+dFN+eε；
wherein E t is the elastic modulus at any time t, N is the number of data sets, F N is the current maximum resultant force value, epsilon is the strain, and a, b, c, d, E is the coefficient to be fitted;
N groups of data (FN, epsilon) are selected, and coefficient fitting is carried out on the variable elastic modulus, wherein N is more than or equal to 5.
Further, in fitting, the fact that the square of the passive force and the square of the strain are large in magnitude order difference is considered, the fitting quantity is correspondingly enlarged or reduced to ensure consistency of each item in magnitude order, and therefore fitting accuracy is improved, and fitting errors are reduced.
Further, the elastic tissue structure is assumed as a single material, and the relationship between the tension and the strain is:
Wherein F is the tension, E is the elastic modulus of the elastic tissue structure, l t is the length after stretching, l 0 is the original length, and S t is the cross-sectional area of the elastic tissue structure.
Further, the method further comprises the steps of:
Establishment of a series model taking into account changes in muscle morphology: and (3) connecting the muscle models built in the steps in series, simulating the appearance of the variable-section muscle, and calculating the active and passive tension of each series section to obtain the muscle contour and length change under any stress state.
Further, the muscle models built in the previous steps are connected in series, the appearance of the variable section muscle is simulated, and the muscle outline and the length change under any stress state can be obtained by calculating the active and passive tension of each series section, specifically comprising the following steps:
For each segment of muscle model, since the resultant force output outwards is consistent, the length variation is consistent, the resultant force of the segment of muscle model is F (i) =f active(i)+Fpassive(i),Factive (i) is the active tension of the i-th segment of muscle model, and F passive (i) is the passive tension of the i-th segment of muscle model, so that:
Wherein S cht is the cross-sectional area of the passive elastic outer membrane structure, E is the elastic modulus of the passive elastic outer membrane structure, i is the number of each section of muscle model, l t is the length of the stretched muscle model, and l 0 is the original length of the muscle model.
The application also provides a muscle time-varying mechanical modeling device considering morphological changes, which comprises:
A muscle active tension modeling module for setting a central muscle fiber active contraction core in the center of the model, which has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core is provided with a passive elastic outer membrane structure, the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle, and the active tension under different expansion rates is obtained by piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
the muscle passive tension modeling module is used for calculating the passive tension of the obtained model according to the length, the radius and the passive elastic outer membrane structure thickness value of the model before and after stretching/stretching during muscle active tension modeling;
The muscle elastic modulus fitting module is used for obtaining the elastic modulus of the passive elastic outer membrane structure through multiple groups of data fitting according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure and the current passive tension;
the elastic tissue modeling module is used for arranging elastic tissue structures at two ends of the model, wherein the elastic tissue structures are used for connecting muscle fibers and bones, reflecting elastic fibers and amorphous matrixes contained at two ends of the muscle fibers, and the elastic tissue modeling module is a main undertaker of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structures are also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissues is fixed.
In another aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the modeling method of time-varying muscle mechanics taking into account morphological changes when executing the program.
The application also provides a storage medium, which comprises a stored program, and the program controls equipment where the storage medium is located to execute the step of the muscle time-varying mechanical modeling method considering morphological changes when running.
Compared with the prior art, the application has the following beneficial effects:
The muscle time-varying mechanical modeling method considering the morphological changes provided by the application is based on the physiological structural characteristics of skeletal muscles, provides a muscle structure model comprising a central constant-volume inner core, a peripheral passive elastic outer membrane structure and two-end elastic tissue structures, and develops active tension modeling, passive tension modeling, muscle variable elastic modulus fitting, elastic tissue modeling and serial model establishment considering the morphological changes of the muscles on the basis. The application takes active and passive tension as an entry point, completes the establishment of a time-varying mechanical model of the muscle, and reveals the mechanical phenomenon and characteristics in the muscle actuation process. Compared with the prior art, the application has the following unique advantages: 1. the application takes the structural characteristics of skeletal muscles as a modeling basis, and the traditional scheme models the muscles as elastic or traction objects such as ropes, springs and the like, so that the characteristics of the muscles are ignored; 2. the application has better applicability to single muscle and muscle segments; 3. the modeling method disclosed by the application considers the change of the shape of the muscle and has good universality for realizing the simulation of mechanical properties and appearance contours.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a flow chart of a method for modeling muscle time-varying mechanics taking morphological changes into consideration according to a preferred embodiment of the application.
Fig. 2 is a schematic diagram of the initial state of the muscle model obtained in step S1 of the preferred embodiment of the present application.
Fig. 3 is a schematic diagram of the compression state of the muscle model obtained in step S1 according to the preferred embodiment of the present application.
FIG. 4 is a graph showing the results of passive fitting, active force and resultant force calculations in accordance with a preferred embodiment of the present application.
FIG. 5 is a schematic diagram showing the relationship between the strain rate of the muscle model and the model morphological parameters obtained in step S1 of the preferred embodiment of the present application.
Fig. 6 is a schematic diagram showing an initial state of a muscle model including an elastic tissue structure in a preferred embodiment of the present application.
Fig. 7 is a schematic diagram showing a compressed state of a muscle model having an elastic tissue structure according to a preferred embodiment of the present application.
FIG. 8 is a flow chart of a modeling method of time-varying muscle mechanics taking account of morphological changes according to another preferred embodiment of the application.
Fig. 9 is a schematic diagram of a muscle series model of a preferred embodiment of the application.
FIG. 10 is a schematic diagram of a modeling apparatus for modeling muscle time-varying mechanics taking account of morphological changes in accordance with a preferred embodiment of the application.
FIG. 11 is a schematic block diagram of a modeling apparatus for modeling muscle time-varying mechanics in consideration of morphological changes according to another preferred embodiment of the application.
Fig. 12 is a schematic block diagram of an electronic device entity of the preferred embodiment of the present application.
Fig. 13 is an internal structural view of the computer device of the preferred embodiment of the present application.
In the figure: 1. passive elastic outer membrane structure; 2. the central muscle fiber actively contracts the inner core; 3. an elastic tissue structure; 4. muscle model.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, a preferred embodiment of the present application provides a method of modeling muscle time-varying mechanics taking into account morphological changes, comprising the steps of:
S1, muscle active tension modeling: a central muscle fiber active contraction core 2 is arranged in the center of the model, and has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core 2 is provided with a passive elastic outer membrane structure 1, the length of which is used for representing the elastic property of the muscle, and the active tension under different expansion rates is obtained by piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
S2, modeling muscle passive tension: according to the length and radius of the model before and after stretching/stretching and the thickness value of the passive elastic outer membrane structure 1, the passive tension of the model is obtained by calculation;
S3, fitting elastic modulus of muscle: according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure 1 and the current passive tension, the elastic modulus of the passive elastic outer membrane structure 1 is obtained through fitting of multiple groups of data;
S4, elastic tissue modeling: the elastic tissue structure 3 is arranged at two ends of the model, the elastic tissue structure 3 is used for connecting muscle fibers and bones, the elastic fibers and amorphous matrixes contained at two ends of the muscle fibers are reflected, the elastic tissue structure is a main undertaker of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structure 3 is also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissue is fixed.
The muscle tension is synthesized by active tension and passive tension, wherein the active tension is derived from a biological myoelectric signal and is output force of biological active control, and the passive tension is derived from passive elasticity of the muscle. Thus, for a single muscle tissue, its magnitude of force can be expressed as:
F＝Factive+Fpassive
Wherein F active is the active power and F passive is the passive power.
Myofibrils are fibrous structures contained within a muscle fiber and are arranged in parallel along the radial direction of the muscle fiber. The length of the thick (myosin) and thin (actin) filaments, respectively, is constant during skeletal muscle contraction, while the intersecting I and H bands shorten. Like the Hill model, the model center of the present embodiment is set as a central muscle fiber active contraction core 2 capable of active contraction, which reflects the ability of the muscle to actively contract and the property of having a constant volume assumption. For the connective tissue contained in the circumference of the muscle and the muscular intima system surrounded by myofibrils, the model of this example provides a passive elastic adventitia structure 1 with length follow-up for characterizing the elastic properties possessed by the muscle. The initial state and the compression state of the muscle mechanics model of the present embodiment are shown in fig. 2 and 3.
The active tension is generated under the active action of the transverse bridges and actin, and the number of the transverse bridges is correspondingly changed due to different overlapped states of muscle fibers before contraction, so that the relation between the active tension and the length of the muscles is represented by the characteristic that the resting state reaches the maximum value, the number of the effective transverse bridges reaches the maximum at the moment, and the provided active tension is the maximum. It was found in the study that the rate of extension-relative active and passive tension remained almost the same despite the differences in muscle properties of the individual parts, so that a piecewise linear fit method could be used for the upper bound of the active force, as well as a specified function fit.
A piecewise linear fit was performed on the maximum active tension, the results being shown as a solid line in fig. 4. It should be noted that, the black solid line in fig. 2 indicates the maximum value of the active tension at a certain expansion rate, and thus the portions surrounded by the line segments are all the magnitudes of the active tension that can be output.
In addition, in order to explain that the muscle fibers continue to shorten and thicken in the isometric contraction process, as shown in fig. 6 and 7, elastic tissue structures 3 are further arranged at two ends of the model in the embodiment, the elastic tissue structures 3 are used for connecting the muscle fibers and bones, reflecting the elastic fibers and amorphous matrixes contained at two ends of the muscle fibers, and are main acceptors of the external axial elasticity of the muscle fiber tissue, meanwhile, the elastic tissue structures 3 are also used for undertaking the elastic deformation of the muscle which can still continuously shrink after the length of the whole muscle tissue is fixed, the elastic tissue structures 3 at two ends collect the elastic properties of the muscle in the axial direction, and the muscle continuously shrink when the muscle is stressed, so that the elastic properties of the muscle which still exist after the active contraction are fully considered, and the muscle can continuously deform under the action of external force.
The muscle time-varying mechanical modeling method considering the morphological changes provided by the embodiment is based on the physiological structural characteristics of skeletal muscles, provides a muscle structure model comprising a central constant-volume inner core, a peripheral passive elastic outer membrane structure and two-end elastic tissue structures, and develops active tension modeling, passive tension modeling, muscle variable elastic modulus fitting, elastic tissue modeling and serial model establishment considering the morphological changes of the muscles on the basis of the muscle structure model. In the embodiment, the active and passive tension is taken as an entry point, so that the establishment of a time-varying mechanical model of the muscle is completed, and the mechanical phenomenon and characteristics in the muscle actuation process are revealed. Compared with the prior art, the embodiment has the following unique advantages: 1. in the embodiment, the structural characteristics of skeletal muscles are taken as modeling bases, and the traditional scheme models muscles as elastic or traction objects such as ropes, springs and the like, so that the characteristics of the muscles are ignored; 2. the embodiment has better applicability to single muscle and muscle segments; 3. the modeling method of the embodiment considers the change of the muscle shape, and has good universality for realizing the simulation of the mechanical property and the appearance outline.
In a preferred embodiment of the present application, the calculation of the length, radius and thickness value of the passive elastic outer membrane structure 1 of the model before and after extension/contraction according to the model obtained during the modeling of the active tension of the muscle specifically includes the steps of:
S21, assuming that the original length of the muscle fiber tissue is l 0, the radius is r 0, the thickness of the passive elastic outer membrane structure is h 0, the length of the muscle fiber tissue after the stretching/stretching of the muscle is l t, the radius is r t, and the thickness of the passive elastic outer membrane structure is h t, the volume V c of the passive elastic outer membrane structure and the volume V s of the active contraction inner core 2 of the central muscle fiber are respectively:
Wherein:
S22, calculating the cross section area S cht of the passive elastic outer membrane structure 1 in the extension state as
Scht＝πht(ht+2rt)
S23. the passive tension F s can thus be expressed as:
passive tension refers to tension that the muscles have when they are not contracted, and is generated by gradual elongation of the muscle fibers, not by active movement of the bridge. Since the elastic properties of the muscle mechanical model discussed in the present application are all generated by the passive elastic outer membrane structure 1 in the muscle fiber portion, the passive tension is derived from the passive elongation of the passive elastic outer membrane structure 1. It should be noted that the passive tension is only generated by the elongation of the muscle tissue, and the passive tension is not generated when the muscle tissue is shortened, wherein E is the elastic modulus of the passive elastic outer membrane structure 1.
In a preferred embodiment of the present application, the obtaining the elastic modulus of the passive elastic outer membrane structure 1 by fitting multiple sets of data according to the relation between the elastic modulus E and the length of the passive elastic outer membrane structure 1 and the current passive tension specifically includes the steps of:
s31. assuming that the elastic modulus is a quadratic function with respect to length and current passive force, the elastic modulus can be described as:
Et＝f(FN,ε)＝aFN 2+bε2+cFNε+dFN+eε；
wherein E t is the elastic modulus at any time t, N is the number of data sets, F N is the current maximum resultant force value, epsilon is the strain, and a, b, c, d, E is the coefficient to be fitted;
S32, selecting N groups of data (F N, epsilon), and performing coefficient fitting on the variable elastic modulus, wherein N is more than or equal to 5.
Where E t is the elastic modulus of the passive elastic adventitia structure 1, we make a hypothesis here that the elastic modulus of muscle tissue changes as the magnitude of muscle tone changes, intuitively manifesting as a constant stiffness of the muscle when it is forced. Since the elastic modulus of the muscle is difficult to measure under different stress conditions, the embodiment adopts a fitting method to calculate, namely, the elastic modulus E t is assumed to be a quadratic function related to the length and the current passive force, then N groups of data (F N, E) are selected, coefficient fitting is performed on the variable elastic modulus to obtain a quadratic function corresponding to the elastic modulus E t, and the elastic modulus of the passive elastic outer membrane structure 1 can be calculated through the quadratic function.
In the preferred embodiment of the application, in consideration of the fact that the square of the passive force and the square of the strain are large in order of magnitude, the fitting quantity is correspondingly enlarged or reduced to ensure the consistency of each item in order of magnitude, so that the fitting accuracy is improved, and the fitting error is reduced, for example, for fitting the tibialis anterior muscle of New Zealand rabbit, the force is usually 12 to 18N, and the active contraction strain is about 30% at maximum, so that F N 2 and epsilon 2 are different by 4 orders of magnitude, and larger rounding errors are generated for the fitting result.
A group of data in the experiment is selected, the fitting result is shown in fig. 4, and the final curves of the active and passive tension curves are approximate to the experimental measurement result.
According to the equal volume assumption, the radius and the peripheral structure thickness corresponding to the length of the muscle tissue at any time can be obtained, so that the morphological change of the muscle in the whole experimental process can be obtained as shown in fig. 5.
It is particularly noted that for peripheral structures, the structure is physiologically similar to the skeletal endomyral system, while the mechanical properties reflect the radial properties of the muscle fibrous tissue. For a material that is subject to compressive buckling, its flexural rigidity is small, so that its axial force is much smaller when compressed than when pulled to the same strain, so that its passive force is approximately 0 when the muscle is in compression.
In a preferred embodiment of the present application, the elastic tissue structure 3 is assumed as a single material, and the relationship between tension and strain is:
Wherein F is the tension, E is the elastic modulus of the elastic tissue structure 3, l t is the length after stretching, l 0 is the original length, and S t is the cross-sectional area of the elastic tissue structure 3.
The elastic tissue structure 3 is used for connecting muscle fibers and bones, and represents elastic fibers and amorphous matrixes contained at two ends of the muscle fibers, so that the elastic tissue structure is a main carrier of external axial elasticity of the muscle fiber tissue. At the same time, the elastic tissue structures 3 at the two ends of the model also bear the elastic deformation that the muscle can still continuously shrink after the whole muscle tissue length is fixed. The elastic tissue structure 3 of the present embodiment is assumed as a single material, and it is known from the above-mentioned relational expression of tension and strain: after the state of the joint is determined, for example, under the condition that the current angular acceleration and the end load of the joint are known, the force born by the whole muscle tissue in the axial direction can be obtained, the length of the current elastic tissue can be obtained, the length of muscle fibers can be obtained, the current passive force can be calculated according to the current length, and the main force can be obtained. If the calculated primary power is greater than the current primary power maximum, the joint state is considered to be intolerable to the corresponding muscle, so the model has a judging standard for judging the joint movement capability.
In another preferred embodiment of the present application, as shown in fig. 8 and 9, the muscle time-varying mechanical modeling method taking into account the morphological changes further comprises the steps of:
s5, establishing a serial model taking the change of the muscle morphology into consideration: the muscle models 4 constructed in the steps are connected in series, the appearance of the variable section muscle is simulated, and the muscle contour and the length change under any stress state can be obtained by calculating the active and passive tension of each series section.
The biological skeletal muscle has the mechanical characteristics as a whole, and meanwhile, the same properties are also achieved for the minimum basic unit muscle segments of muscle movement, and if the muscle is divided into a plurality of series sections along the axial direction, the calculation of active and passive tension is carried out on each section, so that the contour and length change of the muscle in any stress state can be obtained.
Specifically, the muscle models built in the previous steps are connected in series, the appearance of the variable section muscle is simulated, and the muscle contour and the length change under any stress state can be obtained by calculating the active and passive tension of each series section, specifically comprising the following steps:
s51, for each section of muscle model 4, as the resultant force output outwards is consistent and the length variation is consistent, the resultant force of the section of muscle model is F (i) =F active(i)+Fpassive(i),Factive (i) which is the active tension of the section of muscle model, and F passive (i) which is the passive tension of the section of muscle model, so that:
Wherein S cht is the cross-sectional area of the passive elastic outer membrane structure 1, E is the elastic modulus of the passive elastic outer membrane structure 1, i is the number of each section of muscle model 4, l t is the length of the stretched muscle model 4, and l 0 is the original length of the muscle model 4. In this embodiment, the multi-segment muscle models 4 are connected in series, so that the variable-section muscle morphology is simulated, and analysis of real muscles can be realized.
As shown in fig. 10, there is also provided in another preferred embodiment of the present application a muscle time-varying mechanics modeling apparatus considering morphological changes, including:
A muscle active tension modeling module for setting a central muscle fiber active contraction core in the center of the model, which has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core is provided with a passive elastic outer membrane structure, the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle, and the active tension under different expansion rates is obtained by piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
the muscle passive tension modeling module is used for calculating the passive tension of the obtained model according to the length, the radius and the passive elastic outer membrane structure thickness value of the model before and after stretching/stretching during muscle active tension modeling;
The muscle elastic modulus fitting module is used for obtaining the elastic modulus of the passive elastic outer membrane structure through multiple groups of data fitting according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure and the current passive tension;
the elastic tissue modeling module is used for arranging elastic tissue structures at two ends of the model, wherein the elastic tissue structures are used for connecting muscle fibers and bones, reflecting elastic fibers and amorphous matrixes contained at two ends of the muscle fibers, and the elastic tissue modeling module is a main undertaker of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structures are also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissues is fixed.
As shown in fig. 11, there is also provided in another preferred embodiment of the present application a muscle time-varying mechanics modeling apparatus considering morphological changes, including:
A muscle active tension modeling module for setting a central muscle fiber active contraction core in the center of the model, which has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core is provided with a passive elastic outer membrane structure, the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle, and the active tension under different expansion rates is obtained by piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
the muscle passive tension modeling module is used for calculating the passive tension of the obtained model according to the length, the radius and the passive elastic outer membrane structure thickness value of the model before and after stretching/stretching during muscle active tension modeling;
The muscle elastic modulus fitting module is used for obtaining the elastic modulus of the passive elastic outer membrane structure through multiple groups of data fitting according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure and the current passive tension;
the elastic tissue modeling module is used for arranging elastic tissue structures 3 at two ends of the model, the elastic tissue structures 3 are used for connecting muscle fibers and bones, elastic fibers and amorphous matrixes contained at two ends of the muscle fibers are reflected, the elastic tissue modeling module is a main undertaker of external axial elasticity of the muscle fiber tissue, and meanwhile, the elastic tissue structures 3 are also used for undertaking elastic deformation that the muscle can continuously shrink after the length of the whole muscle tissue is fixed.
And the establishment module of the series model is used for carrying out series connection on the muscle models established in the previous steps, simulating the appearance of the variable-section muscle, and calculating the active and passive tension of each series section to obtain the muscle contour and length change under any stress state.
The respective modules in the above-described control device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
As shown in fig. 12, the preferred embodiment of the present application further provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the muscle time-varying mechanical modeling method taking into account morphological changes in the above embodiments when executing the program.
As shown in FIG. 13, the preferred embodiment of the present application also provides a computer device, the internal structure of which may be as shown in FIG. 13. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with other external computer devices through network connection. The computer program is executed by a processor to implement the steps of the muscle time-varying mechanics modeling method of the above embodiment taking into account morphological changes.
It will be appreciated by those skilled in the art that the architecture shown in fig. 13 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer devices to which the present inventive arrangements may be implemented, as a particular computer device may include more or less devices than those shown, or may be combined with some devices, or may have a different arrangement of devices.
In another embodiment of the present application, a storage medium is provided, where the storage medium includes a stored program, and when the program runs, the program controls a device where the storage medium is located to execute the steps of the muscle time-varying mechanical modeling method considering morphological changes.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The functions described in the methods of this embodiment, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in one or more computing device readable storage media. Based on such understanding, a part of the present application that contributes to the prior art or a part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or other various media capable of storing program codes.
The foregoing description of the preferred embodiments of the application is not intended to limit the application to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (10)
1. A method of modeling muscle time-varying mechanics taking into account morphological changes, comprising the steps of:
Muscle active tension modeling: -arranging a central muscle fiber active contraction core (2) in the centre of the model, which has the capacity of muscle active contraction and the nature of a constant volume hypothesis; the periphery of the central muscle fiber active contraction inner core (2) is provided with a passive elastic outer membrane structure (1), the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle by following, and the active tension under different expansion rates is obtained by adopting piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
Modeling of muscle passive tension: according to the length and radius of the model before and after stretching/stretching and the thickness value of the passive elastic outer membrane structure (1) during muscle active tension modeling, the passive tension of the obtained model is calculated;
fitting of muscle elastic modulus: according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure (1) and the current passive tension, the elastic modulus of the passive elastic outer membrane structure (1) is obtained through fitting of multiple groups of data;
Modeling elastic tissue: elastic tissue structures (3) are arranged at two ends of the model, the elastic tissue structures (3) are used for connecting muscle fibers and bones, elastic fibers and amorphous matrixes contained at two ends of the muscle fibers are reflected, the elastic tissue structures are main undertakers of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structures (3) are also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissue is fixed.
2. The modeling method of time-varying muscle mechanics considering morphological changes according to claim 1, wherein the calculation of the length, radius and thickness of the passive elastic outer membrane structure (1) of the model before and after extension/contraction according to the active muscle tension modeling comprises the steps of:
Assuming that the original length of the muscle fiber tissue is l 0, the radius is r 0, the thickness of the passive elastic outer membrane structure is h 0, the length of the muscle fiber tissue after the muscle is stretched/expanded is l t, the radius is r t, the thickness of the passive elastic outer membrane structure is h t, the volume V c of the passive elastic outer membrane structure (1) and the volume V s of the active contraction inner core (2) of the central muscle fiber are respectively:
Wherein:
Calculating the cross-sectional area S cht of the passive elastic outer membrane structure (1) in the elongation state as
Scht＝πht(ht+2rt)
The passive tension F s can thus be expressed as:
3. The modeling method of time-varying muscle mechanics considering morphological changes according to claim 1, wherein the obtaining the elastic modulus of the passive elastic outer membrane structure (1) by fitting multiple sets of data according to the relation between the elastic modulus of the passive elastic outer membrane structure (1) and the length and the current passive tension specifically comprises the steps of:
Assuming that the elastic modulus is a quadratic function with respect to length and current passive force, the elastic modulus can be described as:
Et＝f(FN,ε)＝aFN 2+bε2+cFNε+dFN+eε；
wherein E t is the elastic modulus at any time t, N is the number of data sets, F N is the current maximum resultant force value, epsilon is the strain, and a, b, c, d, E is the coefficient to be fitted;
N sets of data (F N, epsilon) are selected and coefficient fitting is performed on the variable elastic modulus, wherein N is greater than or equal to 5.
4. A method of modeling time-varying mechanics of muscles with morphological changes in mind according to claim 3,
In fitting, the fact that the square of the passive force and the square of the strain are large in order of magnitude is considered, the fitting quantity is correspondingly enlarged or reduced to ensure the consistency of each item in order of magnitude, and therefore fitting accuracy is improved, and fitting errors are reduced.
5. The modeling method of time-varying mechanics of muscles taking into account morphological changes according to claim 4, characterized in that said elastic tissue structure (3) is assumed as a single material, the tension versus strain relationship of which is:
Wherein F is the tension, E is the elastic modulus of the elastic tissue structure (3), l t is the length after stretching, l 0 is the original length, and S t is the cross-sectional area of the elastic tissue structure (3).
6. The modeling method of time-varying mechanical muscle taking into account morphological changes according to claim 1, further comprising the steps of:
Establishment of a series model taking into account changes in muscle morphology: the muscle models (4) built in the steps are connected in series, the appearance of the variable section muscle is simulated, and the muscle outline and the length change under any stress state can be obtained by calculating the active and passive tension of each series section.
7. The method of modeling muscle time-varying mechanics taking account of morphological changes as defined in claim 6,
The muscle models (4) built in the steps are connected in series, the appearance of the variable section muscle is simulated, and the muscle outline and the length change under any stress state can be obtained by calculating the active and passive tension of each series section, and the method specifically comprises the following steps:
For each segment of muscle model (4), since the resultant force output is consistent, the length variation is consistent, the resultant force of the segment of muscle model (4) is F (i) =f active(i)+Fpassive(i),Factive (i) is the active tension of the i-th segment of muscle model (4), and F passive (i) is the passive tension of the i-th segment of muscle model (4), so that:
Wherein S cht is the cross-sectional area of the passive elastic outer membrane structure (1), E is the elastic modulus of the passive elastic outer membrane structure (1), i is the number of each section of muscle model (4), l t is the length of the stretched muscle model (4), and l 0 is the original length of the muscle model (4).
8. A muscle time-varying mechanical modeling apparatus that accounts for morphological changes, comprising:
A muscle active tension modeling module for setting a central muscle fiber active contraction core (2) in the center of the model, which has the capacity of muscle active contraction and the property of constant volume assumption; the periphery of the central muscle fiber active contraction inner core (2) is provided with a passive elastic outer membrane structure (1), the length of the passive elastic outer membrane structure is used for representing the elastic property of the muscle by following, and the active tension under different expansion rates is obtained by adopting piecewise linear fitting or fitting by adopting a specified function according to the relation between the active tension and the length of the muscle;
The muscle passive tension modeling module is used for calculating the passive tension of the obtained model according to the length, the radius and the thickness value of the passive elastic outer membrane structure (1) of the model before and after stretching/stretching during muscle active tension modeling;
the muscle elastic modulus fitting module is used for obtaining the elastic modulus of the passive elastic outer membrane structure (1) through multiple groups of data fitting according to the relation between the elastic modulus and the length of the passive elastic outer membrane structure (1) and the current passive tension;
The elastic tissue modeling module is used for arranging elastic tissue structures (3) at two ends of the model, the elastic tissue structures (3) are used for connecting muscle fibers and bones, elastic fibers and amorphous matrixes contained at two ends of the muscle fibers are reflected, the elastic tissue modeling module is a main undertaker of external axial elasticity of the muscle fibers, and meanwhile, the elastic tissue structures (3) are also used for undertaking elastic deformation that the muscles can continuously shrink after the length of the whole muscle tissues is fixed.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for modeling muscle time-varying mechanics taking account of morphological changes according to any one of claims 1 to 7 when executing the program.
10. A storage medium comprising a stored program, characterized in that the device in which the storage medium is controlled to perform the steps of the method for modeling muscle time-varying mechanics taking account of morphological changes according to any one of claims 1 to 7 when the program is run.
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