论文标题
在风隧道和自由跌落中验证的跳伞运动员的动态模型
A Dynamic Model of a Skydiver With Validation in Wind Tunnel and Free Fall
论文作者
论文摘要
提出了一种洞悉人体飞行中涉及的运动技能的创新方法。关键思想是创建能够实际上执行跳伞运动的模型自主系统。开发了动态的跳伞模型和模拟器，包括生物力学，空气动力学和运动学模型，动态运动方程以及虚拟现实环境。肢体相对取向以及由此产生的惯性角度位置和速度在垂直风隧道和自由跌落中的跳伞实验中测量。将这些实验数据与相应的仿真数据进行比较，以调整和验证基本跳伞运动的模型。该模型进一步扩展到重建晚期航空操作，例如稳定平衡之间的过渡。实验数据用于通过为此目的修改的无气味的卡尔曼滤波器来估算跳伞运动的意识输入作为时间的函数。
An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model and simulator is developed, comprising biomechanical, aerodynamic, and kinematic models, dynamic equations of motion, and a virtual reality environment. Limb relative orientations, and resulting inertial body angular position and velocity are measured in skydiving experiments in a vertical wind tunnel and in free fall. These experimental data are compared with corresponding simulation data to tune and verify the model for basic skydiving maneuvers. The model is further extended to reconstruct advanced aerial maneuvers, such as transitions between stable equilibria. The experimental data are used to estimate skydiver's conscious inputs as a function of time, via an Unscented Kalman Filter modified for this purpose.
