Study of the forward locomotion of a three-dimensional multibody model of a Waveboard by inverse dynamics

2020 ◽  
Vol 149 ◽  
pp. 103826 ◽  
Author(s):  
A. García-Agúndez ◽  
D. García-Vallejo ◽  
E. Freire
Keyword(s):  
Inverse Dynamics ◽  
Three Dimensional ◽  
Multibody Model ◽  
Forward Locomotion

Three-dimensional asymmetric maximum weight lifting prediction considering dynamic joint strength

2021 ◽  
pp. 095441192098703
Author(s):  
Rahid Zaman ◽  
Yujiang Xiang ◽  
Jazmin Cruz ◽  
James Yang
Keyword(s):  
Experimental Data ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Three Dimensional ◽  
Optimization Method ◽  
Weight Lifting ◽  
Joint Torque ◽  
Maximum Weight ◽  
Angular Velocities ◽  
Asymmetric Lifting

In this study, the three-dimensional (3D) asymmetric maximum weight lifting is predicted using an inverse-dynamics-based optimization method considering dynamic joint torque limits. The dynamic joint torque limits are functions of joint angles and angular velocities, and imposed on the hip, knee, ankle, wrist, elbow, shoulder, and lumbar spine joints. The 3D model has 40 degrees of freedom (DOFs) including 34 physical revolute joints and 6 global joints. A multi-objective optimization (MOO) problem is solved by simultaneously maximizing box weight and minimizing the sum of joint torque squares. A total of 12 male subjects were recruited to conduct maximum weight box lifting using squat-lifting strategy. Finally, the predicted lifting motion, ground reaction forces, and maximum lifting weight are validated with the experimental data. The prediction results agree well with the experimental data and the model’s predictive capability is demonstrated. This is the first study that uses MOO to predict maximum lifting weight and 3D asymmetric lifting motion while considering dynamic joint torque limits. The proposed method has the potential to prevent individuals’ risk of injury for lifting.

Three-dimensional whole-body gait analysis: an investigation into the fundamental problem of inverse dynamics

2009 ◽  
Vol 30 ◽  
pp. S78-S79 ◽  
Author(s):  
Lei Ren ◽  
David Howard ◽  
Amaraporn Boonpratatong
Keyword(s):  
Gait Analysis ◽  
Inverse Dynamics ◽  
Fundamental Problem ◽  
Three Dimensional ◽  
Whole Body

Efficient Simulation of Gear Contacts Including Transient Elastohydrodynamic Effects

2013 ◽  
Vol 135 (3) ◽  
Author(s):  
Peter Fietkau ◽  
Bernd Bertsche
Keyword(s):  
Three Dimensional ◽  
Direct Determination ◽  
Simulation Method ◽  
Elastic Half Space ◽  
Operating Conditions ◽  
Multibody Simulation ◽  
Multibody Model ◽  
Gear Contact ◽  
Oil Films ◽  
Lubrication Conditions

This paper describes an efficient transient elastohydrodynamic simulation method for gear contacts. The model uses oil films and elastic deformations directly in the multibody simulation, and is based on the Reynolds equation including squeeze and wedge terms as well as an elastic half-space. Two transient solutions to this problem, an analytical and a numerical one, were developed. The analytical solution is accomplished using assumptions for the gap shape and the pressure in the middle of the gap. The numerical problem is solved using multilevel multi-integration algorithms. With this approach, tooth impacts during gear rattling as well as highly loaded power-transmitting gear contacts can be investigated and lubrication conditions like gap heights or type of friction may be determined. The method was implemented in the multibody simulation environment SIMPACK. Therefore it is easy to transfer the developed element to other models and use it for a multitude of different engineering problems. A detailed three-dimensional elastic multibody model of an experimental transmission is used to validate the developed method. Important values of the gear contact like normal and tangential forces, proportion of dry friction, and minimum gap heights are calculated and studied for different conditions. In addition, pressure distributions on tooth flanks as well as gap forms are determined based on the numerical solution method. Finally, the simulation approach is validated with measurements and shows good consistency. The simulation model is therefore capable of predicting transient gear contact under different operating conditions such as load vibrations or gear rattling. Simulations of complete transmissions are possible and therefore a direct determination of transmission vibration behavior and structure-borne noise as well as of forces and lubrication conditions can be done.

Trajectory Tracking of Underactuated Multibody Systems

2011 ◽  
Author(s):  
Stefan Reichl ◽  
Wolfgang Steiner
Keyword(s):  
Trajectory Tracking ◽  
Multibody Systems ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Feedforward Control ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Differential Algebraic Equations ◽  
State Variables ◽  
Algebraic Equations

This work presents three different approaches in inverse dynamics for the solution of trajectory tracking problems in underactuated multibody systems. Such systems are characterized by less control inputs than degrees of freedom. The first approach uses an extension of the equations of motion by geometric and control constraints. This results in index-five differential-algebraic equations. A projection method is used to reduce the systems index and the resulting equations are solved numerically. The second method is a flatness-based feedforward control design. Input and state variables can be parameterized by the flat outputs and their time derivatives up to a certain order. The third approach uses an optimal control algorithm which is based on the minimization of a cost functional including system outputs and desired trajectory. It has to be distinguished between direct and indirect methods. These specific methods are applied to an underactuated planar crane and a three-dimensional rotary crane.

Influence of Modern Studded and Bladed Soccer Boots and Sidestep Cutting on Knee Loading during Match Play Conditions

2007 ◽  
Vol 35 (9) ◽  
pp. 1528-1536 ◽  
Author(s):  
Rajiv Kaila
Keyword(s):  
Inverse Dynamics ◽  
Cruciate Ligament ◽  
Three Dimensional ◽  
Match Play ◽  
Joint Forces ◽  
Significant Difference ◽  
Knee Loading ◽  
Anterior Cruciate ◽  
Inverse Dynamics Analysis ◽  
Straight Ahead

Background The influence of modern studded and bladed soccer boots and sidestep cutting on noncontact knee loading during match play conditions is not fully understood. Hypothesis Modern soccer boot type and sidestep cutting compared with straight-ahead running do not significantly influence knee internal tibia axial and valgus moments, anterior joint forces, and flexion angles. Study Design Controlled laboratory study. Methods Fifteen professional male outfield soccer players undertook trials of straight-ahead running and sidestep cutting at 30° and 60° with a controlled approach velocity on a Fédération Internationale de Football Association (FIFA) approved soccer surface. Two bladed and 2 studded soccer boots from 2 manufacturers were investigated. Three-dimensional inverse dynamics analysis determined externally applied internal/external tibia axial and valgus/varus moments, anterior forces, and flexion angles throughout stance. Results The soccer boot type imparted no significant difference on knee loading for each maneuver. Internal tibia and valgus moments were significantly greater for sidestep cutting at 30° and 60° compared with straight-ahead running. Sidestep cutting at 60° compared with straight-ahead running significantly increased anterior joint forces. Conclusion Varying soccer boot type had no effect on knee loading for each maneuver, but sidestep cutting significantly increased internal tibia and valgus moments and anterior joint forces. Clinical Relevance Sidestep cutting, irrespective of the modern soccer boot type worn, may be implicated in the high incidence of noncontact soccer anterior cruciate ligament injuries by significantly altering knee loading.

scholarly journals An Engineering Model of Human Balance Control—Part I: Biomechanical Model

2015 ◽  
Vol 138 (1) ◽  
Author(s):  
Joseph E. Barton ◽  
Anindo Roy ◽  
John D. Sorkin ◽  
Mark W. Rogers ◽  
Richard Macko
Keyword(s):  
Inverse Dynamics ◽  
Balance Control ◽  
Dimensional Space ◽  
Young Subject ◽  
Reaction Force ◽  
Three Dimensional ◽  
Balance Training ◽  
Biomechanical Model ◽  
Measurement Tool ◽  
Inverse Dynamics Analysis

We developed a balance measurement tool (the balanced reach test (BRT)) to assess standing balance while reaching and pointing to a target moving in three-dimensional space according to a sum-of-sines function. We also developed a three-dimensional, 13-segment biomechanical model to analyze performance in this task. Using kinematic and ground reaction force (GRF) data from the BRT, we performed an inverse dynamics analysis to compute the forces and torques applied at each of the joints during the course of a 90 s test. We also performed spectral analyses of each joint's force activations. We found that the joints act in a different but highly coordinated manner to accomplish the tracking task—with individual joints responding congruently to different portions of the target disk's frequency spectrum. The test and the model also identified clear differences between a young healthy subject (YHS), an older high fall risk (HFR) subject before participating in a balance training intervention; and in the older subject's performance after training (which improved to the point that his performance approached that of the young subject). This is the first phase of an effort to model the balance control system with sufficient physiological detail and complexity to accurately simulate the multisegmental control of balance during functional reach across the spectra of aging, medical, and neurological conditions that affect performance. Such a model would provide insight into the function and interaction of the biomechanical and neurophysiological elements making up this system; and system adaptations to changes in these elements' performance and capabilities.

Gait Analysis Using Multibody Simulation Tools and Inverse Dynamics Procedures

2005 ◽  
Author(s):  
Miguel Silva ◽  
Jorge Ambro´sio
Keyword(s):  
Gait Analysis ◽  
Inverse Dynamics ◽  
Three Dimensional ◽  
Biomechanical Model ◽  
Whole Body ◽  
Dynamics Analysis ◽  
Natural Coordinates ◽  
Kinematic Constraints ◽  
Biomechanical Models ◽  
Inverse Dynamics Analysis

The use of inverse dynamics methodologies for the evaluation of intersegmental reaction forces and the moments-of-force at the anatomical joints, in the framework of gait analysis, not only requires that appropriate biomechanical models are used but also that kinematic and kinetic data sets are available. This paper discusses the quality of the results of the inverse dynamics analysis with respect to the filtering procedures used and the kinematic consistency of the position, velocity and acceleration data. A three-dimensional whole body response biomechanical model based on a multibody formulation with natural coordinates is used. The model has 16 anatomical segments that are described using 33 rigid bodies in a total of 44 degrees-of-freedom. In biomechanical applications, one of the advantages of the current formulation is that the set of anatomical points used to reconstruct the spatial motion of the subject is also used to construct the set of natural coordinates that describe the biomechanical model itself. Based on the images collected by four synchronized video cameras, the three-dimensional trajectories of the anatomical points are reconstructed using standard photogrammetry techniques and Direct Linear Transformations. The trajectories obtained are then filtered in order to reduce the noise levels introduced during the reconstruction procedure using 2nd order Butterworth low-pass filters with properly chosen cut-off frequencies. The filtered data is used in the inverse dynamics analysis either directly or after being modified in order to ensure its consistency with the biomechanical model’s kinematic constraints. It is also shown that the use of velocities and accelerations consistent with the kinematic constraints or those obtained through the time derivatives of the spline interpolation curves of the reconstructed trajectories lead to similar results.

Rotorcraft Pilot Impedance From Inverse Dynamics-Based Biomechanical Model

2012 ◽  
Author(s):  
Andrea Zanoni ◽  
Giuseppe Quaranta ◽  
Pierangelo Masarati
Keyword(s):  
Inverse Dynamics ◽  
Biomechanical Model ◽  
Biomechanical Properties ◽  
Activation Patterns ◽  
Joint Torques ◽  
Multibody Model ◽  
Equivalent Impedance ◽  
Helicopter Pilots ◽  
Machine Interface ◽  
Muscular Activation

The involuntary interaction of the pilot with a vehicle is often an undesired consequence of the biomechanical properties of the human body and its relation with the layout of the man-machine interface. This work discusses how muscular activation patterns affect the variability of the equivalent impedance of helicopter pilots. A multibody model is used to compute the joint torques associated to a prescribed pilot task, which are then transformed into corresponding ‘optimal’ muscular activation patterns. Equivalent pilot impedance is obtained by consistently linearizing the constitutive model of the muscles about the reference activation. The effect on equivalent impedance of non-optimal activation, resulting from the addition of Torque-Less Activation Modes to the optimal activation, is evaluated and discussed.

Sign in / Sign up

Export Citation Format

Share Document