scholarly journals A Novel Explicit Analytical Multibody Approach for the Analysis of Upper Limb Dynamics and Joint Reactions Calculation Considering Muscle Wrapping

2020 ◽  
Vol 10 (21) ◽  
pp. 7760
Author(s):  
Alessandro Ruggiero ◽  
Alessandro Sicilia
Keyword(s):  
Upper Limb ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Dynamical Analysis ◽  
Limb Dynamics ◽  
External Forces ◽  
Musculoskeletal Systems ◽  
Muscle Actuators ◽  
Dynamics Problems ◽  
The Hill

The aim of this paper is to present an explicit analytical biomechanical multibody procedure able to be implemented in the solution of the musculoskeletal systems inverse dynamics problems. The model is proposed in formal multibody analysis and implemented in the Matlab numerical environment. It is based on the constraint kinematical behaviour analysis and considers both linear muscle actuators and curved ones, by calculating the geodesic muscle path over wrapping surfaces fixed to the bodies. The model includes the Hill muscle approach in order to evaluate both the contractile elements’ actions and the passive ones. With the aim to have a first validation, the model was applied to the dynamical analysis of the “arm26” OpenSim model, an upper limb subjected to external forces of gravity and to known kinematics. The comparison of results shows interesting matching in terms of kinematical analysis, driving forces, muscles’ activations and joint reactions, proving the reliability of the proposed approach in all cases in which it is necessary to achieve in-silico explicit determinations of the upper limb dynamics and joint reactions (i.e., in joint tribological optimization).

scholarly journals DETERMINISTIC CHAOS VERSUS STOCHASTIC OSCILLATION IN A PREY-PREDATOR-TOP PREDATOR MODEL

2011 ◽  
Vol 16 (3) ◽  
pp. 343-364 ◽  
Author(s):  
Ranjit Kumar Upadhyay ◽  
Malay Banerjee ◽  
Rana Parshad ◽  
Sharada Nandan Raw
Keyword(s):  
Deterministic Model ◽  
Driving Forces ◽  
Equilibrium Points ◽  
Chaotic Oscillation ◽  
Three Dimensional ◽  
Deterministic Chaos ◽  
Model System ◽  
Dynamical Analysis ◽  
Interior Equilibrium ◽  
Predator Model

The main objective of the present paper is to consider the dynamical analysis of a three dimensional prey-predator model within deterministic environment and the influence of environmental driving forces on the dynamics of the model system. For the deterministic model we have obtained the local asymptotic stability criteria of various equilibrium points and derived the condition for the existence of small amplitude periodic solution bifurcating from interior equilibrium point through Hopf bifurcation. We have obtained the parametric domain within which the model system exhibit chaotic oscillation and determined the route to chaos. Finally, we have shown that chaotic oscillation disappears in presence of environmental driving forces which actually affect the deterministic growth rates. These driving forces are unable to drive the system from a regime of deterministic chaos towards a stochastically stable situation. The stochastic stability results are discussed in terms of the stability of first and second order moments. Exhaustive numerical simulations are carried out to validate the analytical findings.

scholarly journals Inverse dynamics modelling of upper‐limb tremor, with cross‐correlation analysis

2014 ◽  
Vol 1 (2) ◽  
pp. 59-63 ◽  
Author(s):  
Laurence P. Ketteringham ◽  
David G. Western ◽  
Simon A. Neild ◽  
Richard A. Hyde ◽  
Rosie J.S. Jones ◽  
...  
Keyword(s):  
Correlation Analysis ◽  
Upper Limb ◽  
Cross Correlation ◽  
Inverse Dynamics ◽  
Cross Correlation Analysis ◽  
Dynamics Modelling

scholarly journals Early motor learning changes in upper-limb dynamics and shoulder complex loading during handrim wheelchair propulsion

2015 ◽  
Vol 12 (1) ◽  
pp. 26 ◽  
Author(s):  
Riemer J K Vegter ◽  
Johanneke Hartog ◽  
Sonja de Groot ◽  
Claudine J Lamoth ◽  
Michel J Bekker ◽  
...  
Keyword(s):  
Motor Learning ◽  
Upper Limb ◽  
Complex Loading ◽  
Wheelchair Propulsion ◽  
Limb Dynamics ◽  
Shoulder Complex

Inverse dynamic analysis of milling machining robot, application in calibration of cutting force

2019 ◽  
Vol 57 (6) ◽  
pp. 773 ◽  
Author(s):  
Hai Ha Thanh
Keyword(s):  
Cutting Force ◽  
Cutting Forces ◽  
Inverse Dynamics ◽  
Milling Process ◽  
Machining Process ◽  
Empirical Formulas ◽  
Inverse Dynamic ◽  
Serial Manipulators ◽  
Machining Robot ◽  
Dynamics Problems

This article presents analysis of inverse dynamics of serial manipulators in milling process. Cutting forces and complicated motion involve to difficulties in solving dynamics problems of robots. In general, cutting forces are determined by using empirical formulas that lead to errors of cutting force values. Moreover, the cutting forces are changing and causing vibration during machining process. Errors of cutting force values affect to the accuracy of the dynamic model. This paper proposes an algorithm to compute the cutting forces based on the feedback values of the robot's motion.    

Influence of Position and Power Output on Upper Limb Kinetics in Cycling

2016 ◽  
Vol 32 (2) ◽  
pp. 140-149 ◽  
Author(s):  
Antony Costes ◽  
Nicolas A. Turpin ◽  
David Villeger ◽  
Pierre Moretto ◽  
Bruno Watier
Keyword(s):  
Upper Limb ◽  
Power Output ◽  
Inverse Dynamics ◽  
Random Order ◽  
Standing Position ◽  
Lower Limbs ◽  
Whole Body ◽  
Sit To Stand ◽  
Shoulder Joints ◽  
Limb Kinematics

Several suggestions on the upper limb involvement in cycling exist but, to date, no study has quantified upper limb kinetics in this task. The aim of this study was to determine how crank power and pedaling position (seated or standing) affect upper limb kinetics. Handlebar loadings and upper limb kinematics were collected from 17 participants performing seated or standing pedaling trials in a random order at 6 crank powers ranging from 20% (112 ± 19 W) to 120% (675 ± 113 W) of their spontaneous sit-to-stand transition power. An inverse dynamics approach was used to compute 3D moments, powers, and works at the wrist, elbow, and shoulder joints. Over 29 parameters investigated, increases in crank power were associated with increases in the magnitudes of 23 and 20 of the kinetic variables assessed in seated and standing positions, respectively. The standing position was associated with higher magnitudes of upper limb kinetics. These results suggest that both upper and lower limbs should be considered in future models to better understand whole body coordination in cycling.

scholarly journals New Exoskeleton Arm Concept Design And Actuation For Haptic Interaction With Virtual Objects

2014 ◽  
Vol 44 (4) ◽  
pp. 3-14 ◽  
Author(s):  
D. Chakarov ◽  
I. Veneva ◽  
M. Tsveov ◽  
T. Tiankov
Keyword(s):  
Upper Limb ◽  
Motion Tracking ◽  
Force Feedback ◽  
Human Interaction ◽  
Joint Torque ◽  
Concept Design ◽  
Actuation System ◽  
Human Arm ◽  
Torque Regulation ◽  
Muscle Actuators

Abstract In the work presented in this paper the conceptual design and actuation of one new exoskeleton of the upper limb is presented. The device is designed for application where both motion tracking and force feedback are required, such as human interaction with virtual environment or rehabilitation tasks. The choice is presented of mechanical structure kinematical equivalent to the structure of the human arm. An actuation system is selected based on braided pneumatic muscle actuators. Antagonistic drive system for each joint is shown, using pulley and cable transmissions. Force/displacement diagrams are presented of two antagonistic acting muscles. Kinematics and dynamic estimations are performed of the system exoskeleton and upper limb. Selected parameters ensure in the antagonistic scheme joint torque regulation and human arm range of motion.

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