CN115544812B

CN115544812B - Method, system, electronic equipment and medium for constructing digital twin virtual person

Info

Publication number: CN115544812B
Application number: CN202211497475.7A
Authority: CN
Inventors: 孙相宇; 刘文迅; 江军
Original assignee: Hangzhou Light Universe Technology Co ltd
Current assignee: Hangzhou Light Universe Technology Co ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-05-05
Anticipated expiration: 2042-11-28
Also published as: CN115544812A

Abstract

The invention relates to the technical field of artificial intelligence, in particular to a digital twin virtual machineHuman construction method, system, electronic equipment and medium, and corresponding parameters related to the muscle dynamics function are input into the muscle dynamics function by establishing the muscle dynamics function to obtain the muscle external output force F of human muscle ^MT The method comprises the steps of carrying out a first treatment on the surface of the Establishing a musculoskeletal dynamics function, outputting corresponding parameters related to the musculoskeletal dynamics function and the obtained external force F of the muscles of each muscle corresponding to the joint point of the human body ^MT And inputting the resultant force F to the musculoskeletal dynamics function to obtain the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model. The construction mode of the digital twin virtual human provided by the invention can enable the muscle and bone movement to form closed-loop control, so that the real movement principle of organisms can be more effectively simulated by the constructed digital twin virtual human.

Description

Method, system, electronic equipment and medium for constructing digital twin virtual person

Technical Field

The invention relates to the technical field of artificial intelligence, in particular to a method, a system, electronic equipment and a medium for constructing a digital twin virtual person.

Background

Digital twinning was first proposed by michael griffes in the beginning of the 21 st century as a professional in product design, and he originally rooted this concept in the field of production engineering. This concept is not strictly limited at the beginning of the proposal and has evolved to now be used more directly to describe various digital simulation models that are matched to the real-time processes of social and economic systems and physical systems.

In general, any system that reflects the operation of another, different system is typically defined as a model, which is abstracted from the structure and process that defines the system with which it is aligned or compared. By definition, a model is a simplification of reality, in other words, the purpose of the model is not to replicate another system that is identical to the original system details.

However, digital twinning technology is the representation of a real object or subject in the digital world with its data, functions and communication capabilities. Thus, the computer model of a physical system is difficult to base on digital twinning, because many elements of a real system are ignored in any such abstraction. While modern computer technology can build digital models that more closely resemble reality, from entirely conceptual "thinking experiments" to custom digital representations that attempt to reflect as many features of the real system as possible, various models are ubiquitous, and even digital models can be converted from a completely abstract concept to a complete mirror image of the system in question. In this case, if the digital model itself truly contains the entire content of the entire physical object, it can be considered to be equivalent to a part of this physical object to some extent, which is the hypothetical definition of digital twinning. In this sense, all physical systems may have a digital "clone", which is a digital twin, that may be integrated with the corresponding physical system.

In this sense, the digital twin system, which operates in real time, is not different from the system itself, which presents a new field of research, namely how to use the digital twin system to learn, explore, simulate and test the native physical system. The health status of human body functional manifestation is always a concern in the industry, because it is affected by actual physiological changes, detection means, biological details, individual differences and other multi-azimuth factors, and the actual physiological status of human body cannot be predicted by the traditional computer simulation system. The traditional medical examination (CT, assay, etc.) method can generate a great deal of cost and long detection period, resulting in great waste of resources; the failure rate of medical detection and human body simulation processes can be effectively reduced by adopting a digital simulation technology, but the traditional digital model method cannot consider the change, activity and elements in the real environment of the human body, so that the simulation model cannot simulate the change process and physiological characteristics of the real human body.

Disclosure of Invention

The invention aims to solve the problem that the existing human body function simulation technology is not real, and provides a method, a system, electronic equipment and a medium for constructing a digital twin virtual person.

In order to achieve the above object, the present invention provides a method for constructing a digital twin virtual person, comprising the steps of:

establishing a rigid body model corresponding to a human body;

establishing a muscle dynamics function, acquiring corresponding parameters related to the muscle dynamics function, inputting the parameters into the muscle dynamics function, and obtaining the external output force F of the muscle of the human body ^MT And updating into the rigid body model;

establishing a musculoskeletal dynamics function, obtaining corresponding parameters related to the musculoskeletal dynamics function, and outputting the corresponding parameters related to the musculoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside output force F ^MT And inputting the resultant force F to the musculoskeletal dynamics function, obtaining the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model.

As an embodiment, the method further comprises the steps of:

and establishing a multi-rigid-body kinematic function, acquiring corresponding parameters related to the multi-rigid-body kinematic function, inputting the corresponding parameters related to the multi-rigid-body kinematic function, the external output resultant force F of each human body joint point involved in the force generation of the human body part during the interaction with the environment, and the moment T rotating around the corresponding human body joint point into the multi-rigid-body kinematic function, obtaining the force Fex of the interaction of the human body part with the environment, and updating the force Fex into the rigid-body model.

As an embodiment, the step of establishing a rigid body model corresponding to the human body specifically includes:

acquiring a rigid body model corresponding to a human body, acquiring a human body image, calculating an image distance between human body articulation points corresponding to rigid body articulation points in the rigid body model in the human body image, calculating limb length data L corresponding to the human body articulation points according to the image distance, updating the limb length data L corresponding to the human body articulation points into the rigid body model, and acquiring joint included angles theta of the human body articulation points in the human body image and updating the joint included angles theta into the rigid body model.

As an embodiment, the rigid body model corresponding to the human body is provided with 17 rigid body joints, the 17 rigid body joints are respectively 12 rigid body limb joints and 5 rigid body trunk joints, and the 12 rigid body limb joints are respectively: the two wrist rigid body joints, the two elbow rigid body joints, the two shoulder rigid body joints, the two hip rigid body joints, the two knee rigid body joints and the two ankle rigid body joints are respectively: neck rigid body articulation point, two chest rigid body articulation points and two waist rigid body articulation points.

As an implementation manner, a muscle dynamics function is established, corresponding parameters related to the muscle dynamics function are acquired and input into the muscle dynamics function, and the muscle output force F of the muscle is obtained ^MT The step of updating the rigid body model comprises the following steps of;

establishing the external output force F of each muscle of the human body ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

Obtaining muscle length L by muscle dynamics function of muscle abdomen activation z ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

The specific parameters of the muscle belly activation degree z are input into the muscle dynamics function to obtain the external output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model ^MT And updated into the rigid body model.

As an implementation way, the external output force F of the muscles of each muscle of the human body is established ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

The step of the muscle dynamics function of the muscle belly activation z specifically comprises:

muscle-to-external output force F based on muscle mechanics model ^MT And tendon to output force F ^T Output force F from muscle abdomen ^M Is related to the output force F of the muscle ^MT Output force F to the tendon ^T And the corresponding tendon stiffness k ^T Muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^SR Is a first muscle kinetic function of (a); establishing muscle to output force F ^MT Output force F from the abdomen ^M With a corresponding degree of activation z of the muscle abdomen, maximum force of the muscle abdomen

Stiffness of myo-abdominal contraction k ^PE Length of myoabdomen L ^M Minimum length of active muscle contraction L ^SR Is a second muscle kinetic function of (a).

As an embodiment, the first muscle dynamics function is:

，

the method comprises the steps of carrying out a first treatment on the surface of the The second muscle kinetic function is:

，

，

，

；

wherein F is ^MT Indicating the outward output force of the muscle, F ^M Representing the force output from the abdomen of the muscle to the outside, F ^T Indicating the outward output force of the tendons in the muscle,

Representing the spring force in the muscle mechanics model used to define the muscle abdomen,

representing actuator force, k, used in defining muscle abdomen in muscle mechanics model ^T Represents tendon stiffness, k ^PE Represents the stiffness of the contraction of the muscle abdomen,

indicating maximum muscular abdominal force, L ^ST Indicating the maximum length of the passive stretching of the muscle,

represents the minimum length of active contraction of muscle, L ^M Indicates the length of the abdomen, z indicates the activation of the abdomen, L ^MT Represents the length of the muscle, and alpha represents the included angle of the muscle fiber.

As one embodiment, a myoskeletal dynamics function is established, corresponding parameters related to the myoskeletal dynamics function are obtained, and the corresponding parameters related to the myoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body are output with force F ^MT The step of inputting the muscle bone kinetic function to obtain the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point and updating the resultant force F into the rigid body model specifically comprises the following steps:

establishing the external output combined force F of the joint point of the human body and the external output force F of the muscles of each muscle corresponding to the joint point of the human body ^MT Is a first musculoskeletal kinetic function of (a);establishing a moment T rotating around a human body joint point and the external output force F of the muscles of each muscle corresponding to the human body joint point ^MT Distance data W between the connection point of the tendons and bones corresponding to the muscles and the corresponding human body joint point ^MT The second musculoskeletal dynamics function of the human body is obtained, and the output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model is obtained ^MT Inputting the first muscle-bone kinetic function to obtain the outward output resultant force F of the human body joint point, updating the resultant force F into the rigid body model, and obtaining the outward output force F of the muscles corresponding to the human body joint point and corresponding to the rigid body joint point set by the rigid body model ^MT Distance data W between the connection point of tendons and bones of the corresponding muscle to the corresponding human body joint point ^MT And inputting the second musculoskeletal dynamics function to obtain a moment T rotating around the human body joint point and updating the moment T into the rigid body model.

As an embodiment, the first musculoskeletal kinetic function is:

wherein, the method comprises the steps of, wherein,

respectively representing the outward output force of the muscles of each muscle corresponding to the human body joint point, wherein F represents the outward output resultant force of the human body joint point, and the value of i is determined according to the number of the muscles corresponding to the corresponding human body joint point;

the second musculoskeletal kinetic function is:

Wherein, the method comprises the steps of, wherein,

respectively represents the output force of the muscles of each muscle corresponding to the joint point of the human body,

respectively represent the correspondingAnd the distance data between the connection points of the tendons and the bones of the muscles and the corresponding human body joint points, T represents the moment rotating around the human body joint points, and the numerical value of i is determined according to the number of the muscles corresponding to the corresponding human body joint points.

As an embodiment, the number of muscles corresponding to the human body joint point is the same as the degree of freedom corresponding to the human body joint point; wherein, the degrees of freedom corresponding to the knee joint point and the elbow joint point are all 2 degrees of freedom, and the number of corresponding muscles is 2; the degrees of freedom corresponding to the chest body articulation point, the waist body articulation point and the neck body articulation point are all 3 degrees of freedom, and the number of corresponding muscles is 3; the degrees of freedom corresponding to the ankle body joint point and the wrist body joint point are all 4 degrees of freedom, and the number of corresponding muscles is 4; the degree of freedom corresponding to the hip human body joint point is 5 degrees of freedom, and the number of corresponding muscles is 5; the corresponding degree of freedom of the human shoulder joint points is 6 degrees of freedom, and the number of corresponding muscles is 6.

As an implementation manner, the steps of establishing a multi-rigid-body kinematic function, obtaining corresponding parameters related to the multi-rigid-body kinematic function, inputting the corresponding parameters related to the multi-rigid-body kinematic function, the external output resultant force F of each human body joint point involved in the force generation of the human body part during the interaction with the environment, and the moment T rotating around the corresponding human body joint point to the multi-rigid-body kinematic function, obtaining the force Fex of the interaction between the human body part and the environment, and updating the force Fex into the rigid-body model specifically comprise:

Establishing a multi-rigid-body kinematic function of force Fex of human body parts interacting with the environment, outward output resultant force F of each human body joint point involved in force generation when the human body parts interact with the environment, moment T rotating around the corresponding human body joint point, joint included angle theta of the corresponding human body joint point and limb length data L corresponding to the corresponding human body joint point; the method comprises the steps of obtaining specific parameters of external output resultant force F of each human body joint point, moment T rotating around the corresponding human body joint point, joint included angle theta of the corresponding human body joint point and limb length data L corresponding to the corresponding human body joint point, inputting the specific parameters into a multi-rigid body kinematics function, obtaining force Fex of human body part interaction with environment and updating the force Fex into the rigid body model.

Correspondingly, the invention also provides a system for constructing the digital twin virtual man, which comprises the following modules:

the rigid body model building module is used for building a rigid body model corresponding to a human body;

the muscle dynamics module is used for establishing a muscle dynamics function, acquiring corresponding parameters related to the muscle dynamics function, inputting the corresponding parameters into the muscle dynamics function, and obtaining the muscle output force F of the human muscle ^MT And updating into the rigid body model;

The musculoskeletal dynamics module establishes a musculoskeletal dynamics function, acquires corresponding parameters related to the musculoskeletal dynamics function, and outputs the corresponding parameters related to the musculoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside force F ^MT And inputting the resultant force F to the musculoskeletal dynamics function, obtaining the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model.

Correspondingly, the invention also provides electronic equipment, which comprises: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is configured to read a program in the memory for performing the method.

Accordingly, the present invention also provides a computer readable storage medium having instructions stored thereon which, when executed on a computer, cause the computer to perform the method.

The invention has the beneficial effects that: the invention provides a method for constructing a digital twin virtual person, which comprises the following steps: establishing a rigid body model corresponding to a human body; establishing a muscle dynamics function, acquiring corresponding parameters related to the muscle dynamics function, inputting the parameters into the muscle dynamics function, and obtaining the external output force F of the muscle of the human body ^MT And updating the model into the rigid body model; establishing a musculoskeletal dynamics function, obtaining corresponding parameters related to the musculoskeletal dynamics function, and outputting the corresponding parameters related to the musculoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside output force F ^MT Input to muscleAnd (3) obtaining the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point by the bone dynamics function, and updating the resultant force F and the moment T into the rigid body model. The invention provides a more realistic nerve control method, which enables muscle and bone movement to form closed loop control and more effectively simulates the real movement principle of organisms.

Drawings

FIG. 1 is a schematic diagram of steps of a method for constructing a digital twin virtual man according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of limb length data corresponding to a human body joint point in a method for constructing a digital twin virtual human according to an embodiment of the present invention;

FIG. 3 is a schematic view of a shoulder width W1 and a crotch width W2 corresponding to a human body joint point in the method for constructing a digital twin virtual human according to the embodiment of the invention;

FIG. 4 is a schematic diagram of a muscle mechanical model in the method for constructing a digital twin virtual human according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of the human body in horizontal buckling and horizontal stretching according to the method for constructing a digital twin virtual human according to the embodiment of the present invention;

FIG. 6 is a schematic diagram of a coordinate system established by taking an elbow human body joint point as an origin in a method for constructing a digital twin virtual human according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a connection skeleton of a muscle established by taking a 4-degree-of-freedom human body joint as an example in a method for constructing a digital twin virtual human according to an embodiment of the present invention in an xyz-axis coordinate system;

FIG. 8 is a schematic diagram of the resultant force of the external output of each human body joint and the moment of rotation around the human body joint in the method for constructing the digital twin virtual human according to the embodiment of the invention;

FIG. 9 is a schematic diagram of the forces of foot interaction with the environment formed by hip, knee, ankle joints in the method of constructing a digital twin dummy according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the joint angles corresponding to the human body joint points and the forces of interaction between the human body parts and the environment in the method for constructing the digital twin virtual human according to the embodiment of the invention;

FIG. 11 is a block diagram of a dynamic musculoskeletal control system in a method of constructing a digital twin virtual human in accordance with an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, the present embodiment provides a technical solution: the method for constructing the digital twin virtual man comprises the following steps:

step S100, establishing a rigid body model corresponding to a human body;

step S200, establishing a muscle dynamics function, obtaining corresponding parameters related to the muscle dynamics function, inputting the parameters into the muscle dynamics function, and obtaining the muscle output force F of the human muscle ^MT And updating into the rigid body model;

step S300, establishing a musculoskeletal dynamics function, obtaining corresponding parameters related to the musculoskeletal dynamics function, and outputting the corresponding parameters related to the musculoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside force F ^MT And inputting the resultant force F to the musculoskeletal dynamics function, obtaining the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model.

Executing step S100, the step of establishing a rigid body model corresponding to the human body specifically includes:

Specifically, in this embodiment, a camera is used to directly capture a human body image, for example: the user stands facing the equipment in a standard natural state at a fixed position in front of the equipment camera, and the camera acquires the coronal data of the human body; the user stands on the side of the equipment in a standard natural state at a fixed position in front of the camera of the equipment, and hands are placed in front of the lower abdomen to prevent the hip from being blocked, and the camera acquires the data of the losing-shape surface of the human body; the user stands back on the equipment in a standard natural state at a fixed position in front of the camera of the equipment, and the camera acquires back data of the person; thereby calculating the image distance between corresponding human body joints in the human body image according to the acquired image; and further calculating limb length data L of the human body joint points corresponding to all the body parts, and updating the limb length data L into the rigid body model to serve as corresponding limb length data L in the rigid body model.

In this embodiment, the rigid body model corresponding to the human body is provided with 17 rigid body joints, the 17 rigid body joints are respectively 12 rigid body limb joints and 5 rigid body trunk joints, and the 12 rigid body limb joints are respectively: the two wrist rigid body joints, the two elbow rigid body joints, the two shoulder rigid body joints, the two hip rigid body joints, the two knee rigid body joints and the two ankle rigid body joints are respectively: neck rigid body joint points, two chest rigid body joint points and two waist rigid body joint points; in other embodiments, however, a corresponding number of rigid body nodes may be self-contained on the rigid body model.

And the selected human body joint point used for calculation corresponds to the rigid body joint point set by the rigid body model; namely, knee rigid body joint points and elbow rigid body joint points correspond to knee human body joint points and elbow human body joint points respectively; the chest rigid body articulation point, the waist rigid body articulation point and the neck rigid body articulation point respectively correspond to the chest body articulation point, the waist body articulation point and the neck body articulation point; the ankle rigid body joint points and the wrist rigid body joint points correspond to the ankle body joint points and the wrist body joint points respectively; the hip rigid body joint corresponds to the hip human body joint; the shoulder rigid body node corresponds to the shoulder human body node.

Based on the set rigid body joint and the corresponding human body joint, as shown in fig. 2 and 3, the calculated limb length data includes left and right hand lengths L10, L11 (wrist rigid body joint to middle finger tip), left and right forearm lengths L8, L9 (wrist rigid body joint to elbow rigid body joint), left and right large arm lengths L6, L7 (elbow rigid body joint to shoulder rigid body joint), head length L5 (head top to neck rigid body joint), neck length L4 (neck rigid body joint to shoulder rigid body joint), trunk chest length L1 (shoulder rigid body joint to chest rigid body joint), waist length L2 (chest rigid body joint to waist rigid body joint), hip length L3 (waist rigid body joint to hip rigid body joint), left and right thigh lengths L12, L13 (hip rigid body joint to knee rigid body joint), left and right thigh lengths L14, L15 (knee joint to ankle rigid body joint), left and right thigh lengths L16, L17 (actual shoe length), and further a distance between left and right leg width W1 and right leg joint (crotch width W2) are required.

In addition, the joint included angle theta of the human body joint point can also be obtained by performing image measurement in real time in the human body movement process.

Executing step S200, establishing a muscle dynamics function, obtaining corresponding parameters related to the muscle dynamics function, inputting the parameters into the muscle dynamics function, and obtaining the muscle output force F of the muscle ^MT And updated into the rigid body model.

Obtaining muscle length L by muscle dynamics function of muscle abdomen activation z ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle of muscle fiberAlpha, muscle active contraction minimum length L ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

Wherein, the muscle output force F of each muscle of the human body is established ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

The first muscle dynamics function is:

，

，

，

，

；

In the present embodiment of the present invention, in the present embodiment,tendon stiffness k of individual muscles of the human body ^T And a myo-abdominal contractile stiffness k corresponding to the myo-abdominal ^PE Maximum force of muscle and abdomen

Maximum length L of muscle passively stretching ^ST And muscle active contraction minimum length L ^SR The fixed value obtained by measuring and calculating the user is updated to the rigid body model, and the fixed value can be directly obtained when calculated through a muscle dynamics function; included angle of myofiber alpha and length of myoabdomen L ^M Muscle length L ^MT All are change values, which can be obtained by real-time measurement in the prior art, such as measurement of video images; the muscle dynamics function can be directly obtained when the calculation is performed; wherein, the tendon stiffness k of each muscle of the human body ^T And a myo-abdominal contractile stiffness k corresponding to the myo-abdominal ^PE Maximum force of muscle and abdomen

Obtained directly from the previous measurements, this example is not described in detail; the muscle fiber included angle alpha can be mainly obtained by means of image measurement and inverse trigonometric function, and represents the average value of the relative force-generating direction (generally skeleton direction) of muscle fibers in the muscle, and is along with L ^M Is changed by a change in length.

And the muscle belly activation degree z is a value selected from 0 to 1, wherein 0 represents no force generated by muscle relaxation, 1 represents maximum force generated by artificial input when constructing a virtual human, and the muscle output force F is output through a muscle dynamics function after a specific parameter of the muscle belly activation degree z is input ^MT Finally, the force Fex of interaction between the human body part and the environment is obtained, so that the virtual human can be well controlled to exert force.

In the present embodiment, the maximum length L of the muscle passively stretched is obtained ^ST And muscle active contraction minimum length L ^SR The method specifically comprises the following steps: according to the length data of the limb corresponding to the joint point of the human body obtained by calculation, measuring the corresponding muscle of the human body joint point corresponding to the rigid body joint point defined by the rigid body modelMuscle passive stretching maximum length L under human joint included angle ^ST And muscle active contraction minimum length L ^SR ；

Specifically, as shown in fig. 5, when the shoulder human body joint takes on the posture shown in fig. 5 (a), it indicates horizontal flexion, at which time the biceps brachii actively contracts, and the triceps brachii passively stretches; when the human shoulder joint point presents the gesture shown in fig. 5 (b), the horizontal extension is represented, at this time, the biceps brachii is passively stretched, the triceps brachii is actively contracted, the camera respectively measures the joint angle theta under the two gestures, the ratio of the joint point of the abdominal muscle tendon of the digger muscle and the skeleton is combined, and then the maximum length L of the passive stretching of the muscles corresponding to the biceps brachii and the triceps brachii can be directly calculated according to the length of the corresponding muscle abdomen under the normal state ^ST And muscle active contraction minimum length L ^SR The method comprises the steps of carrying out a first treatment on the surface of the Wherein the muscle passively stretches a maximum length L ^ST The muscle actively contracts by a minimum length L as a difference between the length of the muscle when the muscle is stretched to the maximum length and the length of the muscle in a normal state ^SR Is the difference between the length of the muscle when the muscle is contracted to the minimum length and the length of the muscle in the normal state; in addition, the anatomical tendon is well defined relative to the location of attachment to the bone, i.e. the technique of measuring the length of the muscle is known and will not be described in detail herein.

Further, the muscle is composed of two parts of a muscle abdomen and tendons, the position of the bone is changed to generate exercise, but the bone cannot exercise, the exercise of the bone is carried out by traction of the muscle, tendons are connected to two ends of the muscle, the tendons can bypass joints and be connected to different bones, the tendons at the two ends of the muscle abdomen are contracted to drag the bones to generate exercise of the joints, when the muscles contract, the tendons at the two ends of the muscle abdomen are attached to two or more bones, the bones are carried along to exercise, the exercise of the human body can be divided into stretching, adduction and abduction, and rotation exercise, so that the muscles are attached to each bone to meet the requirement of the exercise, the tendons are similar to a rope, the tendons can be permanently attached to the bones, one end of the muscles is fixed to the bones, the exercise of the bones is generated by transmitting force from the muscles to the bones through the tendons, no exercise of the tendons is generated by pulling the tendons, and the tendons are pulled to the connected bones.

Thus, in the prior art, as shown in fig. 4, the muscle mechanics model is defined as a combination of a spring PE, an actuator CE, and a sleeve, wherein the spring PE and the actuator CE correspond to a muscle abdomen M, and the sleeve corresponds to tendons T and F ^MT Indicating the outward output force of the muscle, F ^M Representing the force output from the abdomen of the muscle to the outside, F ^T Representing the outward output force of tendons in the muscle, firstly, due to the muscle F ^M And tendon F ^T At any time in equilibrium, the result is:

，

then through F ^M And (3) performing calculation to obtain:

，

，

the method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,

meaning that when the muscle is in a stretched state, the method is used

Obtaining F ^M And when the muscle is contracted state, adopts

Obtaining F ^M In addition, it should be noted that, since tendons are stretched only and not contracted, only when muscles are stretched,

。

according to the obtained muscle dynamics function, measuring the muscle belly length L of different exercise states of the user during exercise ^M The muscle fiber included angle alpha and the muscle abdomen activation degree z manually input are assisted to the rigid body model, so that the force conditions of each muscle of the human body in different postures can be measured, and the rigid body model can accurately control the outward output force F of the muscle of one muscle ^MT While the technique of judging whether the muscle is in a stretched state or a contracted state at different postures is the prior art, the present embodiment will not be described in detail.

Executing step S300, establishing a myoskeletal dynamics function, obtaining corresponding parameters related to the myoskeletal dynamics function, and outputting the corresponding parameters related to the myoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside output force F ^MT The step of inputting the muscle bone kinetic function to obtain the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point and updating the resultant force F into the rigid body model specifically comprises the following steps:

establishing the external output combined force F of the joint point of the human body and the external output force F of the muscles of each muscle corresponding to the joint point of the human body ^MT Is a first musculoskeletal kinetic function of (a); establishing a torque T rotating around a human body joint point, establishing an external output combined force F of the human body joint point by muscles of all muscles corresponding to the human body joint point and an external output force F of the muscles of all muscles corresponding to the human body joint point ^MT Is a first musculoskeletal kinetic function of (a); establishing a moment T rotating around a human body joint point and the external output force F of the muscles of each muscle corresponding to the human body joint point ^MT Distance data W between the connection point of the tendons and bones corresponding to the muscles and the corresponding human body joint point ^MT The second musculoskeletal dynamics function of the human body is obtained, and the output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model is obtained ^MT Inputting the resultant force F into a first musculoskeletal dynamics function to obtain the resultant force F of the external output of the human body joint point and updating the resultant force F into the rigid body model Obtaining the external output force F of the muscles of each muscle corresponding to the human body joint point corresponding to the rigid body joint point set by the rigid body model ^MT Distance data W between the connection point of tendons and bones of the corresponding muscle to the corresponding human body joint point ^MT And inputting the second musculoskeletal dynamics function to obtain a moment T rotating around the human body joint point and updating the moment T into the rigid body model.

Wherein the first musculoskeletal kinetic function is:

wherein, the method comprises the steps of, wherein,

the second musculoskeletal kinetic function is:

wherein, the method comprises the steps of, wherein,

and respectively representing the distance data between the connection points of the tendons and bones of the corresponding muscles and the corresponding human body joint points, wherein T represents the moment rotating around the human body joint points, and the value of i is determined according to the number of the muscles corresponding to the corresponding human body joint points.

Wherein, it should be noted that the number of muscles corresponding to different human body joints is the same as the degree of freedom corresponding to the human body joints; such as: the degrees of freedom corresponding to the knee body articulation point and the elbow body articulation point are 2 degrees of freedom, and the number of corresponding muscles is 2, wherein the knee body articulation point specifically comprises 1 rotational degree of freedom and 1 translational degree of freedom and is mutually coupled, and the elbow body articulation point specifically comprises 2 rotational degrees of freedom; the degrees of freedom corresponding to the chest body articulation point, the waist body articulation point and the neck body articulation point are all 3 degrees of freedom, and the number of corresponding muscles is 3, wherein the chest body articulation point specifically comprises 3 degrees of freedom in rotation, the waist body articulation point specifically comprises 3 degrees of freedom in rotation, and the neck body articulation point specifically comprises 3 degrees of freedom in rotation; the corresponding degrees of freedom of the ankle body articulation point and the wrist body articulation point are all 4 degrees of freedom, and the corresponding number of muscles is 4, wherein the ankle body articulation point specifically comprises 3 rotational degrees of freedom and 1 translational degrees of freedom and the translational degrees of freedom are coupled; the corresponding degrees of freedom of the hip human body joint points are 5 degrees of freedom, and the number of corresponding muscles is 5, wherein the hip human body joint points specifically comprise 3 degrees of freedom of rotation and 2 degrees of freedom of translation; the corresponding degree of freedom of the human shoulder joint point is 6 degrees of freedom, and the corresponding number of muscles is 6, wherein the human shoulder joint point specifically comprises 3 degrees of rotation freedom and 3 degrees of translation freedom and is coupled with each other.

In particular, since the muscles apply tension to the bones along the path of the muscles, we can understand that any one motion has two motions with the same track but opposite directions, and that the decomposed motions of all joints in a certain degree of freedom can be understood as the result of the interaction of a pair of muscles, there are generally two interactions between bones and muscles: muscles change the posture of bones by force; at the same time the bone posture determines the overall muscle length, which in turn also influences the muscle contractility, and in addition the driving moment of the bone joint movement is related not only to the contractility of the tendon unit to which the joint is attached, but also to the location at which the tendon unit is attached.

The biological joint is different from the mechanical joint designed manually, and the rotation, sliding block, general purpose, plane, ball and sleeve joint in the mechanical structure is difficult to simulate the unique effect, so that the joint-rigid body modeling method in the mechanical design is used to greatly simplify or change the actual biomechanical structure and is not suitable for modeling of human body digital twin virtual human.

Therefore, in order to simulate the tension applied to the bones by the respective muscles corresponding to the human body joint, that is, the resultant force of the external output of the human body joint, first, according to the muscle mechanics model shown in fig. 4, we can understand that all the motions of the human body motion joint are formed by the combined motions of the paired muscles, for example, when the human body joint has 3 degrees of freedom, the moment T applied to the joint and the force F applied in three proper directions represent three degrees of rotational freedom.

Therefore, in the present embodiment, by establishing an xyz-axis coordinate system with the human body joint point as the origin and the limb N1 close to the human body trunk as the z-axis, the external output total force F of the human body joint point and the muscle external output force F of each muscle corresponding to the human body joint point are displayed based on the xyz-axis coordinate system ^MT A first musculoskeletal kinetic function is established to rotate around each human joint point to output force F to the outside of the corresponding muscle of each human joint point ^MT Distance data between the connection point of tendons and bones of the corresponding muscle to the corresponding human body joint point

Establishing a second musculoskeletal dynamics function according to the relation of the joint points of the human body, so as to obtain the external output resultant force F of the joint points of the human body and the moment T rotating around each joint point of the human body; for example, taking an elbow human body joint point as shown in fig. 6 as an example, the elbow human body joint point is 2 degrees of freedom, corresponding to 2 muscles, namely MT1 and MT2, the elbow human body joint point is taken as an origin, two sides of the elbow human body joint point are a limb N1 close to a human body trunk and a limb N2 far away from the human body trunk, wherein an xyz axis coordinate system is established by taking the elbow human body joint point as the origin and the limb N1 close to the human body trunk as a z axis;

as shown in fig. 7, for example, a human body joint point with 4 degrees of freedom is taken as a typical ellipsoid, and has four degrees of freedom of output force, 4 muscles are connected between a limb N1 close to the human body trunk and a limb N2 far from the human body trunk, namely MT1, MT2, MT3 and MT4, a moment T is arranged between the limb N1 close to the human body trunk and the limb N2 far from the human body trunk, and the moment T has three degrees of freedom and rotates around xyz three axes respectively, so that the external output resultant force f=f of the human body joint point ^MT1 +F ^MT2 +F ^ME3 +F ^MT4 Wherein F is ^MT1 、F ^MT2 、F ^ME3 、F ^MT4 The muscles of the 4 muscles MT1, MT2, MT3 and MT4 corresponding to the human body joint point respectively output force outwards; moment t=f around the human body joint ^MT1 ×W ^MT1 + F ^MT2 ×W ^MT2 +F ^MT3 ×W ^MT3 +F ^MT4 ×W ^MT4 Wherein F is ^MT1 、F ^MT2 、F ^ME3 、F ^MT4 Respectively represent the external output force of the muscles MT1, MT2, MT3 and MT4 corresponding to the human body joint point, W ^MT1 、W ^MT2 、W ^MT3 、W ^MT4 The distance data from the connection points g1, g2, g3, g4 of the tendons and bones of the 4 muscles MT1, MT2, MT3, MT4 corresponding to the human body joint point O are respectively shown.

That is, the muscle output force F is obtained according to the muscle dynamics function ^MT After that, the muscle outputs force F to the outside ^MT The specific parameters of (a) are input into the musculoskeletal dynamics function to obtain the resultant force F of the external output of the human body joint points and the moment T of rotation around each human body joint point, and the data are updated into the rigid body model, as shown in FIG. 8, the moment T of rotation around each human body joint point and the external output force F of the external output of the corresponding muscle of each human body joint point are updated on the rigid body model ^MT Is a schematic diagram of (a).

After step S300, further includes: and establishing a multi-rigid-body kinematic function, acquiring corresponding parameters related to the multi-rigid-body kinematic function, inputting the corresponding parameters related to the multi-rigid-body kinematic function, the external output resultant force F of each human body joint point involved in the force generation of the human body part during the interaction with the environment, and the moment T rotating around the corresponding human body joint point into the multi-rigid-body kinematic function, obtaining the force Fex of the interaction of the human body part with the environment, and updating the force Fex into the rigid-body model.

The method specifically comprises the steps of establishing a multi-rigid-body kinematic function, inputting the acquired corresponding parameters related to the multi-rigid-body kinematic function, the external output resultant force F of each human body joint point involved in outward force generation of the human body part, and the moment T rotating around each corresponding human body joint point into the multi-rigid-body kinematic function, obtaining the interaction force Fex of the human body part and the environment, and updating the interaction force Fex into the rigid-body model, wherein the steps comprise:

establishing a multi-rigid-body kinematic function of force Fex of human body parts interacting with the environment, outward output resultant force F of each human body joint point involved in force generation when the human body parts interact with the environment, moment T rotating around the corresponding human body joint point, joint included angle theta of the corresponding human body joint point and length data L of limbs corresponding to the corresponding human body joint point; and inputting the obtained external output resultant force F of each human body joint point, the moment T rotating around the corresponding human body joint point, the joint included angle theta of the corresponding human body joint point and the length data L of the limb corresponding to the corresponding human body joint point into a multi-rigid body kinematics function to obtain the force Fex of human body part interaction with the environment and updating the force Fex into the rigid body model.

Wherein, the joint included angle θ of each human body joint point and the length data L of the limb corresponding to the human body joint point are obtained according to the measurement mode of the length data L and the joint included angle θ in step S100.

Specifically, although there are many modeling modes of force, in this embodiment, the force generated when the human body part interacts with the external environment, that is, the force Fex generated when the human body part interacts with the environment is simulated by using a time vector function of the force and the action point formed by the force and the pressure center point data, and the external contact force at the tail end of the joint point is a key data source for deducing the force generation condition of the muscle in the human body, so that in this embodiment, by taking the ground contact of the foot of the human body as an example, the deformation and the force calculation are simplified by using an elastic foundation model, and the force generated when the foot interacts with the environment is obtained.

As shown in fig. 9, the obtained hip rigid body joint, knee rigid body joint and ankle rigid body joint of the lower limb are respectively L12 and L14 in length of the leg between the obtained hip rigid body joint and knee rigid body joint, L16 in length of the foot corresponding to the ankle rigid body joint, and 5 degrees of freedom ellipsoid corresponding to the hip body joint, 3 degrees of freedom ellipsoid corresponding to the knee body joint, 5 degrees of freedom ellipsoid corresponding to the ankle body joint, and force in the bone direction generated by muscle acting on these joints are respectively generated, and after the analysis of the force projected on the sagittal plane of the human, the multi-rigid body kinematic function fex4=f (F11, F13, F15, T12, T14, T17, L12, L14, L16, θ11, θ14, θ16) is obtained, thereby obtaining resultant force Fex4 of the foot constraint on the ground, f11, F13, F15 are respectively calculated total force output by the hip body articulation point, the knee body articulation point, and the ankle body articulation point, T12, T14, T17 are respectively calculated moment rotating around the hip body articulation point, the knee body articulation point, and the ankle body articulation point, L12, L14, and L16 are respectively calculated thigh length data corresponding to the hip body articulation point, shank length data corresponding to the knee body articulation point, and foot length data corresponding to the ankle body articulation point (actually may be a shoe length), and θ11, θ14, and θ16 respectively represent joint angles of the calculated hip body articulation point, knee body articulation point, and ankle body articulation point, wherein, the arrow labeled with the joint angle θ in fig. 9 and 10 are labeled forms based on kinematics and physique, respectively, but may be used to represent the joint angle θ; the function is obtained through forward kinematics of human body analysis, so that the external interaction force of the digital twin virtual human under the known joint and skeleton power can be known, and the forward dynamics of the whole human body can be deduced by extending from one leg; as shown in fig. 10, which is a schematic diagram of updating the force and joint angle of human body interaction with the environment for the rigid body model, it should be noted that the single-leg hip, knee and ankle human body joint points described in this embodiment are only examples, and other human body joint points may be involved when the force of human body part interaction with the environment is specifically measured, and the calculation may be performed according to the human body joint points actually involved in the force.

It should be noted that, the calculation mode of the external output resultant force F corresponding to each joint point and the moment T rotating around the corresponding joint point of the human body is the prior art by using the obtained force Fex of the interaction between the human body part and the environment, and the embodiment will not be further described in detail.

In this embodiment, as shown in fig. 11, after a specific parameter of the muscle-abdomen activation degree z is manually input into a rigid model, the rigid model obtains the muscle output force F based on the muscle dynamics function ^MT And updating; and then the muscle is put intoOutput force F to the outside ^MT Inputting a musculoskeletal dynamics function, outputting the external output resultant force F of each human body joint point and the moment T rotating around the corresponding human body joint point, and updating; and inputting specific parameters of external output resultant force F of each human body joint point and moment T rotating around each corresponding human body joint point into a multi-rigid-body kinematic function to obtain and update the force Fex of human body part interaction with the environment, and finally updating all acquired parameters into the rigid body model, so that the rigid body model and the human body are synchronously simulated to obtain a virtual person corresponding to the human body, and the final output is motion under a generalized coordinate system, wherein the motion comprises a track q and a speed u.

In the embodiment of the invention, dynamics is introduced into the myoabdominal activation z as feedback of physical exercise behaviors, and the contraction force of the muscle tendon unit driving joint and the state change of the internal unit are mutually related in the exercise simulation process based on the biomechanical virtual human. During the simulation calculation, the state of the muscle and the external input are known, and the subsequent state change of the muscle is calculated from the change of the external state.

The invention designs a real musculoskeletal system which is more in line with a human body based on the parameterization principle of muscles, bones and joints, and provides a method for simulating the body shape system to send signals to control muscles through the variables such as muscle excitement, muscle length and the like, driving the bones to move by the muscles and obtaining external interaction force of the human body by the movements.

According to the invention, the muscle-abdomen activation degree of each muscle of the human body is input into the rigid body model, so that the force generated when the corresponding human body part and the outside are mutually generated can be obtained; for example, when the device is applied to the field of body building, the force required to pull corresponding body building equipment can be known when a human body moves, so that the device can simulate; compared with more rigid modeling, the neural control method is more truly provided, and the control is adjusted according to the observed movement result by simulating a control method similar to human brain; such as the amount of force perceived by the skin, the manner of adjustment is the degree of muscle activation; the muscle and bone movement forms closed-loop control, and the real movement principle of organisms is more effectively simulated.

Further, after the virtual person is constructed, the real-time activity of the human body can be simulated by using the virtual person, namely, the pressure formed when the body part of the human body interacts with the outside, namely, the force Fex of the interaction between the body part and the environment, is directly obtained through a sensor and the like, then the reverse pushing is performed through the steps, so that the muscle-abdomen activation degree z is finally obtained, and the change of the muscle-abdomen activation degree z of each muscle of the human body during the activity is finally obtained in real time, so that the specific state of the muscle of the human body is judged according to the specific numerical value of the muscle-abdomen activation degree z.

Based on the same inventive concept, the invention also provides a system for constructing a digital twin virtual person, which comprises the following modules:

Based on the same inventive concept, the present invention also provides an electronic device, including: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is configured to read the program in the memory and to perform the method of constructing the digital twin dummy.

The electronic equipment can be intelligent body-building equipment, intelligent terminal equipment such as intelligent mobile phones, computers and intelligent large screens.

Based on the same inventive concept, the present invention also provides a computer-readable storage medium having stored thereon instructions that, when run on a computer, cause the computer to perform the method.

Although the present invention has been described with respect to the preferred embodiments, it is not intended to be limited thereto, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and techniques disclosed herein without departing from the spirit and scope of the present invention.

Claims

1. The method for constructing the digital twin virtual man is characterized by comprising the following steps of:

establishing a rigid body model corresponding to a human body; the method specifically comprises the following steps: acquiring a rigid body model corresponding to a human body, acquiring a human body image, calculating an image distance between human body articulation points corresponding to rigid body articulation points in the rigid body model in the human body image, calculating limb length data L corresponding to the human body articulation points according to the image distance, updating the limb length data L corresponding to the human body articulation points into the rigid body model, and acquiring a joint included angle theta of the human body articulation points in the human body image to update the joint included angle theta into the rigid body model;

establishing a muscle dynamics function, acquiring corresponding parameters related to the muscle dynamics function, inputting the parameters into the muscle dynamics function, and obtaining the external output force F of the muscle of the human body ^MT And updating into the rigid body model; wherein the method specifically comprises the following steps of; establishing the external output force F of each muscle of the human body ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Most in the abdomen and muscleLarge force

Obtaining muscle length L by muscle dynamics function of muscle abdomen activation z ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of myo-abdominal region->

The specific parameters of the muscle belly activation degree z are input into the muscle dynamics function to obtain the external output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model ^MT And updating into the rigid body model;

establishing a musculoskeletal dynamics function, acquiring corresponding parameters related to the musculoskeletal dynamics function, and outputting the corresponding parameters related to the musculoskeletal dynamics function and the muscles of each muscle corresponding to the joint points of the human body to the outside force F ^MT Inputting the muscle bone kinetic function to obtain external output resultant force F of each human body joint point and moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model; the method specifically comprises the following steps: establishing the external output combined force F of the joint point of the human body and the external output force F of the muscles of each muscle corresponding to the joint point of the human body ^MT Is a first musculoskeletal kinetic function of (a); establishing a moment T rotating around a human body joint point and the external output force F of the muscles of each muscle corresponding to the human body joint point ^MT Distance data W between the connection point of the tendons and bones corresponding to the muscles and the corresponding human body joint point ^MT The second musculoskeletal dynamics function of the human body is obtained, and the output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model is obtained ^MT Inputting the resultant force F to the first musculoskeletal dynamics function to obtain the resultant force F of the external output of the human body joint point, updating the resultant force F to the rigid body model, and obtaining the external output of the muscles of each muscle corresponding to the human body joint point corresponding to the rigid body joint point set by the rigid body modelOutput force F ^MT Distance data W between the connection point of tendons and bones of the corresponding muscle to the corresponding human body joint point ^MT And inputting the second musculoskeletal dynamics function to obtain a moment T rotating around the human body joint point and updating the moment T into the rigid body model.

2. The method for constructing a digital twin virtual man according to claim 1, further comprising the steps of:

3. The method for constructing a digital twin virtual human according to claim 1, wherein the rigid body model corresponding to the human body is provided with 17 rigid body joints, the 17 rigid body joints are respectively 12 rigid body limb joints and 5 rigid body trunk joints, and the 12 rigid body limb joints are respectively: the two wrist rigid body joints, the two elbow rigid body joints, the two shoulder rigid body joints, the two hip rigid body joints, the two knee rigid body joints and the two ankle rigid body joints are respectively: neck rigid body articulation point, two chest rigid body articulation points and two waist rigid body articulation points.

4. The method for constructing a digital twin virtual human according to claim 1, wherein the external output force F of the muscles of each muscle of the human body is established ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

5. The method for constructing a digital twin virtual man as defined in claim 4, wherein,

the first muscle dynamics function is:

，/>

the method comprises the steps of carrying out a first treatment on the surface of the The second muscle kinetic function is: />

，/>

，/>

，/>

；

representing the spring force in a muscle mechanics model for defining the muscle abdomen +.>

Representing actuator force, k, used in defining muscle abdomen in muscle mechanics model ^T Represents tendon stiffness, k ^PE Representing myo-abdominal contractile stiffness,/->

Indicating maximum muscular abdominal force, L ^ST Represents the maximum length of the passive stretching of the muscle, +.>

6. The method of constructing a digital twin virtual human according to claim 1, wherein the first musculoskeletal dynamics function is:

wherein->

the second musculoskeletal kinetic function is:

wherein->

Respectively represent the external output force of the muscles of each muscle corresponding to the joint point of the human body, +.>

7. The method for constructing a digital twin virtual human according to claim 1, wherein the number of muscles corresponding to the human body articulation point is the same as the degree of freedom corresponding to the human body articulation point; wherein, the degrees of freedom corresponding to the knee joint point and the elbow joint point are all 2 degrees of freedom, and the number of corresponding muscles is 2; the degrees of freedom corresponding to the chest body articulation point, the waist body articulation point and the neck body articulation point are all 3 degrees of freedom, and the number of corresponding muscles is 3; the degrees of freedom corresponding to the ankle body joint point and the wrist body joint point are all 4 degrees of freedom, and the number of corresponding muscles is 4; the degree of freedom corresponding to the hip human body joint point is 5 degrees of freedom, and the number of corresponding muscles is 5; the corresponding degree of freedom of the human shoulder joint points is 6 degrees of freedom, and the number of corresponding muscles is 6.

8. The method for constructing a digital twin virtual man according to claim 2, wherein the steps of establishing a multi-rigid-body kinematic function, obtaining corresponding parameters related to the multi-rigid-body kinematic function, inputting the corresponding parameters related to the multi-rigid-body kinematic function, the resultant force F of the external output of each human body joint involved in the force generation of the human body part during the interaction with the environment, and the moment T rotating around the corresponding human body joint to the multi-rigid-body kinematic function, obtaining the force Fex of the interaction of the human body part with the environment, and updating the force Fex into the rigid-body model specifically comprise:

9. A system for constructing a digital twin virtual man, comprising the following modules:

the rigid body model building module is used for building a rigid body model corresponding to a human body; the method specifically comprises the following steps: acquiring a rigid body model corresponding to a human body, acquiring a human body image, calculating an image distance between human body articulation points corresponding to rigid body articulation points in the rigid body model in the human body image, calculating limb length data L corresponding to the human body articulation points according to the image distance, updating the limb length data L corresponding to the human body articulation points into the rigid body model, and acquiring a joint included angle theta of the human body articulation points in the human body image to update the joint included angle theta into the rigid body model;

the muscle dynamics module is used for establishing a muscle dynamics function, acquiring corresponding parameters related to the muscle dynamics function, inputting the corresponding parameters into the muscle dynamics function, and obtaining the muscle output force F of the human muscle ^MT And updating into the rigid body model; wherein the method specifically comprises the following steps of; establishing the external output force F of each muscle of the human body ^MT With corresponding muscle length L ^MT Length of myoabdomen L ^M Maximum length L of muscle passively stretching ^ST Included angle alpha of muscle fiber, minimum length L of active contraction of muscle ^SR Stiffness of myo-abdominal contraction k ^PE Tendon stiffness k ^T Maximum force of muscle and abdomen

the musculoskeletal dynamics module establishes a musculoskeletal dynamics function, acquires corresponding parameters related to the musculoskeletal dynamics function, and outputs the corresponding parameters related to the musculoskeletal dynamics function and the obtained muscles of each muscle corresponding to the joint point of the human body to the outside force F ^MT Inputting the muscle bone kinetic function to obtain external output resultant force F of each human body joint point and moment T rotating around the corresponding human body joint point, and updating the resultant force F and the moment T into the rigid body model; the method specifically comprises the following steps: establishing the external output combined force F of the joint point of the human body and the external output force F of the muscles of each muscle corresponding to the joint point of the human body ^MT Is a first musculoskeletal kinetic function of (a); establishing a moment T rotating around a human body joint point and the external output force F of the muscles of each muscle corresponding to the human body joint point ^MT Distance data W between the connection point of the tendons and bones corresponding to the muscles and the corresponding human body joint point ^MT The second musculoskeletal dynamics function of the human body is obtained, and the output force F of the muscles of each muscle corresponding to the human body articulation point corresponding to the rigid body articulation point set by the rigid body model is obtained ^MT Inputting the first muscle bone dynamics function to obtain the external output resultant force F of the human body joint point and updating the resultant force F into the rigid body model to obtain each muscle corresponding to the human body joint point corresponding to the rigid body joint point set by the rigid body modelThe muscle outputs force F to the outside ^MT Distance data W between the connection point of tendons and bones of the corresponding muscle to the corresponding human body joint point ^MT And inputting the second musculoskeletal dynamics function to obtain a moment T rotating around the human body joint point and updating the moment T into the rigid body model.

10. An electronic device, comprising: at least one processor, a memory communicatively coupled to at least one of the processors; at least one of the processors is configured to read a program in the memory for performing the method according to any of claims 1-8.

11. A computer readable storage medium having instructions stored thereon which, when run on a computer, cause the computer to perform the method of any of claims 1-8.