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Title:: Research on multi-body dynamics simulation and gait stability experiment of human lower limbs

作者:: 张凯璐1; 2; 3; 何帅恒1; 2; 3; 赵紫雅1; 2; 3; 张雪玲1; 2; 3; 林飞1; 2; 李佳1; 2; 3△; 任武1; 2; 3△; （1．新乡医学院第一附属医院，新乡 453003；2．新乡医学院医学工程学院，新乡 453003；3．河南省神经传感与控制工程技术研究中心，河南省医学VR智能传感反馈工程研究中心，新乡市智能康复设备工程技术研究中心，新乡 453003）

Author(s):: ZHANG Kailu1; 2; 3; HE Shuaiheng1; 2; 3; ZHAO Ziya1; 2; 3; ZHANG Xueling1; 2; 3; LIN Fei1; 2; LI Jia1; 2; 3; REN Wu1; 2; 3; （1.The First Affiliated Hospital of XinXiang Medical University, Xinxiang 450003,China;2. School of Medical Engineering, Xinxiang Medical University, Xinxiang 453003；3. Engineering Technology Research Center of Neurosense and Control of Henan Province, Engineering Research Center of Medical VR Intelligent Sensing Feedback of Henan Provience, Xinxiang Engineering Technology Research Center of Intelligent Rehabilitation Equipment, Xinxiang 453003）

Keywords:: Lower limb; Multi-body dynamics; Musculoskeletal model; Gait stability; Rehabilitation therapy; Simulation

摘要:: 人体下肢是人进行步行运动的主要工具，下肢的肌肉骨骼系统是步行的执行机构，正常的下肢功能保证了人们的日常活动；下肢损伤会引起人们运动障碍，下肢运动障碍康复者虽然具有行走的能力，但是其稳定性和平衡性较差。本文着眼于人体下肢，总结并阐述了人体下肢多体动力学仿真以及步态稳定性的实验研究进展，展望了其发展趋势，旨在为临床康复治疗及康复设备的设计与开发提供帮助与数据支持。

Abstract:: The lower extremity is the main tool for human walking. The musculoskeletal system of lower extremity is the executive mechanism of walking. The normal function of lower extremity ensures people’s daily activities. Lower extremity injury can cause movement disorder. Although the rehabilitation personnel with lower extremity movement disorder have the ability to walk, their stability and balance are poor. Focusing on human lower limbs, we summarize and describe the experimental research progress of multi-body dynamics simulation and gait stability of human lower limbs, look forward to its development trend, to provide help and data support for clinical rehabilitation treatment and the design and development of rehabilitation equipment.