目的 目前航天员舱外活动所建的航天员生物力学模型缺乏人体解剖信息，且未见合理的验证方法；本文旨在给出相应解决方法，为航天员舱外活动仿真的进一步应用提供依据。方法选取典型舱外活动实例，建立带有肌肉作用力的航天员上肢反向运动学、动力学模型并进行仿真计算；利用运动学结果驱动OpenGL软件生成动画，实现运动学验证，进而辅以实物模型完成模型的动力学验证。结果 运动学验证表明计算结果的正确性，动力学验证及仿真所得两块肌肉力结果的平均相对误差分别为14.54%和0.91%。结论 本文建立了合理的航天员上肢模型，并进行了仿真计算；该仿真结果可信，提出的验证方法可行，为航天员舱外活动的生物力学仿真及验证提供支持。

Objective The present biomechanical model built for extravehicular activities (EVA) of astronaut is lack of human anatomy features, and still there isn’t a reasonable verification method. This study is aimed at solving the problems above and providing references for the further application of EVA simulation. Methods Based on a typical extravehicular activity, an inverse kinematical and dynamical upper limb model with muscle forces was built to conduct simulation calculation. Both the kinematical and dynamical results were verified through OpenGL animation sequence driven by kinematical calculation results and verification experiment with a real model, respectively. Results The animation built for kinematical verification proved that the calculation results were correct. The relative error of two muscle forces between dynamic verification and simulation was 14.54% and 0.91%, respectively. Conclusions A reasonable upper limb model of astronaut is established in this study. The simulation results are credible and the verification Results showed that this feasible method could supports the further research on EVA simulation and verification.

国家自然科学基金资助项目（51175021）