A multibody biomechanical model of the upper limb including the shoulder girdle

The aim of this work is to propose a robust musculoskeletal model of the upper limb to serve as the basis for the study of different types of shoulder pathologies, including the use of anatomical or reverse prostheses. The multibody biomechanical model is defined by seven rigid bodies constrained by the sternoclavicular, acromioclavicular, and glenohumeral joints, each modeled as a three d.o.f. spherical joint; the humeroulnar and radioulnar joints, each modeled as one d.o.f. hinge joint; and the scapulothoracic articulation, modeled by two holonomic constraints that allow the scapula to glide over the thorax. The muscle system includes 21 muscles described by 37 individual segments using the obstacle-set method. The muscle contraction dynamics is represented by the Hill-type muscle model, being the activation of each muscle unknown. The muscle force sharing is a redundant problem in which an optimization technique is applied to find the muscle activations, and the corresponding muscle forces, by minimizing an objective function that represents muscle energy consumption. The fulfillment of the equations of motion of the biomechanical model are enforced and the stability of the glenohumeral joint and the scapulothoracic articulation is also imposed, thus providing two sets of constraints for the optimal problem. The validation of the model is carried out by comparing the results from an acquired motion, the abduction of the arm, with available data in the literature and with EMG data.     

Performances of hill-type and neural network muscle models-toward a myosignal-based exoskeleton.

Muscle models are the essential components of any musculoskeletal simulation. In addition, muscle models which are incorporated in neural-based prosthetic and orthotic devices may significantly improve their performance. The aim of the study was to compare the performances of two types of muscle models in terms of predicting the moments developed at the human elbow joint complex based on joint kinematics and neuromuscular activity. The performance evaluation of the muscle models was required to implement them in a powered myosignal-driven exoskeleton (orthotic device). The experimental setup included a passive exoskeleton capable of measuring the joint kinematics and dynamics in addition to the muscle myosignal activity (EMG). Two types of models were developed and analyzed: (i) a Hill-based model and (ii) a neural network. The task, which was selected for evaluating the muscle models performance, was the flexion-extension movement of the forearm with a hand-held weight. For this task the muscle model inputs were the normalized neural activation levels of the four main flexor-extensor muscles of the elbow joint, and the elbow joint angle and angular velocity. Using this inputs, the muscle model predicted the moment applied on the elbow joint during the movement. Results indicated a good performance of the Hill model, although the neural network predictions appeared to be superior. Relative advantages and shortcomings of both approaches were presented and discussed.     

A closed-form formula for the moment arm matrix of a general musculoskeletal model with considering joint constraint and motion rhythm

This paper introduces a new closed-form formulation for the moment arm matrix corresponding to the musculotendon unit in a general computational model of the musculoskeletal system. The novel approach uses matrix calculus to define a “Generalized Musculotendon Line of Action Vector (GMLAV)” in integration with the virtual work principle, hence leveraging both conventional geometry and tendon excursion methods. In contrast to previous methods, the concepts of motion rhythm and joint constraints have been incorporated without restrictions, where each joint variable is defined as an arbitrary smooth function of the generalized coordinate vector. The validity of our formulation was established by performing the simulations on two well-known musculoskeletal models from literature and comparing the outcomes with those obtained using OpenSim. The results presented in this paper show a high degree of fidelity between our novel simulation model and OpenSim (or SIMM).     

Forces,activation and displacement prediction during free movement in the hand and forearm

This paper deals with the development of a highly realistic human hand and forearm model. The model contains 38 muscles and 24 degrees of freedom representing the joints of the system. The adopted model has to be as close as possible to the reality of the human being hand, to address several features linked to manipulation tasks, grasping objects and daily routine movements like shaving, writing, etc. In addition, a better comprehension of the biomechanical and neuromuscular behavior of the system is aimed. This will allow having a tool for the simulation of repairing surgery, acts such as tendon transfer. In this paper, we focus on the muscle forces determination for a given task. An optimization technique is used to resolve the redundant problem over the 24 joints of the system. Also, a muscle model is used and is integrated in the optimization technique, in order to determine measurable values, like the activation and the displacement of each muscle in the system. The calculation is made during a real‐time simulation. © 2005 Wiley Periodicals, Inc.     

Ergonomic evaluation of ergonomically designed chalkboard erasers on shoulder and hand-arm muscle activity among college professors

Teaching professionals regularly use the chalk board eraser or duster throughout their life which leads to several unnoticed musculoskeletal disorders. The purpose of this study was to provide an alternate design for the existing Indian model chalk board eraser, because current eraser design causes noticeable amount of biomechanical load on the wrist, hand and shoulder region when its frequency of usage was high and repetitive. Initially, pilot study was conducted through an online modified Nordic questionnaire among 60 college professors to identify the risky regions of the body due to the use of existing chalk board eraser. This was followed by an experimental trial using surface Electromyography Sensors (sEMG) in which the muscle behaviour was evaluated during the chalkboard erasing process employing three newly designed dusters and a traditional duster. The results revealed that Model A designed with a large palm rest to align the palm and the forearm had better usability and the musculoskeletal distress was reduced when compared with the traditional duster. Whereas Model C designed with slip guards to improve the gripping forces was found to have better performance rating after Model A. Model B provided with separate handle was found to be the worst performer when compared with the conventional duster. Results suggested that providing an improved palm rest and slip guards such as grooves reduces the musculoskeletal distress.     

Method for determining musculotendon parameters in subject-specific musculoskeletal models of children developed from MRI data

Accurate knowledge of muscle-tendon parameters in biomechanical models is critical for accurate simulation and analyses of human movement. An excellent example of this is the creation of subject-specific models from magnetic resonance imaging (MRI). When Hill-type muscle models are used to calculate muscle forces, the determination of muscle attachment points, optimal fiber length, tendon slack length and maximum isometric force all have a significant influence on the joint moment-angle behavior of the model. In the present study a method was developed for customizing the values of muscle-tendon parameters in a generic model to create subject-specific biomechanical models from MRI. The method was applied by generating musculoskeletal models for the biomechanical simulation platform OpenSim, but the workflow is equally well applicable to other simulation platforms. New computational algorithms are described for identifying joint centers and for reconstructing the centroids of the muscle bellies from MRI. A?process is also described for the extraction of the muscle paths and for identifying the positions of ??via-points?? used to model muscles wrapping over bones. Finally, a new algorithm is described for adjusting the values of optimal fiber length, tendon slack length and maximum isometric force based on a comparison of the model results with experiment. We tested our computational algorithms by developing subject-specific biomechanical models of five typically developed children (age 9.5±1.7?years) from MRI. The joint moment-angle relationships calculated for the subject-specific models were similar to those determined for corresponding scaled generic models. The results indicate that the proposed methodology is suitable for developing subject-specific models of healthy children. Future studies should investigate how abnormalities of the musculoskeletal system, such as tibial torsion and muscle spasticity, can be integrated into the modeling process.     

Influence of selected modeling and computational issues on muscle force estimates

Knowledge of muscle forces and joint reaction forces during human movement can provide insight into the underlying control and tissue loading. Since direct measurement of the internal loads is generally not feasible, non-invasive methods based on musculoskeletal modeling and computer simulations have been extensively developed. By applying observed motion data to the musculoskeletal models, inverse dynamic analysis allow to determine the resultant joint torques, transformed then into estimates of individual muscle forces by means of different optimization procedures. Assessment of the joint reaction forces and other internal loads is further possible. Comparison of the muscle force estimates obtained for different modeling assumptions and parameters in the model can be valuable for the improvement of validity of the model-based estimations. The present study is another contribution to this field. Using a sagittal plane model of an upper limb with a weight carried in hand, and applying the data of recorded flexion and extension movement of the upper limb, the resultant muscular forces are predicted using different modeling assumptions and simulation tools. This study relates to different coordinates (joint and natural coordinates) used to built the mathematical model, muscle path modeling, muscle decomposition (change in number of the modeled muscles), and different optimization methods used to share the joint torques into individual muscles.     

Biomechanics and Kinematic Responses of the Upper Extremity during Isotonic and Isokinetic Wrench‐Turning Tasks

The purpose of this study was to investigate the impact of using a wrench under isotonic (constant torque) and isokinetic (constant speed) task modes (TM) at three work surface inclinations (WSI) (0°, 45°, and 90°) on the biomechanical (muscle activity) and kinematic (joint posture) responses of the upper extremity. The muscle activity of seven muscles (trapezius posterior deltoid, anterior deltoid, triceps, biceps, brachioradialis, and flexor digitorium) and posture of four body segments (shoulder adduction/abduction, elbow flexion/extension, forearm supination/pronation and wrist flexion/extension) were obtained using surface electromyography and motion tracking, respectively. WSI showed a statistically significant effect on the muscle activity of the posterior deltoid (p = .038), triceps (p = .016), and biceps (p = .021). The least muscle activity was recorded at the 0° WSI in the isotonic TM. WSI had a significant impact on the supination (p = .017) and pronation (p = .011) of the forearm. The 45° WSI had the least impact on forearm postures. Wrenches are widely used in industries, including automobile service and maintenance, manufacturing, carpentry, and general repair work. Their usage poses risks for the development of musculoskeletal disorders in the upper extremity. In spite of this, knowledge of their physical demands and associated impact on the upper extremity has not been well documented. This study provides empirical evidence on the biomechanical and kinematic responses of selected upper extremity muscles and limb segments and highlights task performance and workstation design factors that elicit undue levels of these responses. The results of this work can provide guidance for ergonomic interventions such as optimized task design and/or improved workstation design when it comes to wrench‐turning tasks.     

The effects of joint torque, pace and work:rest ratio on powered hand tool operations

Repetitive use of hand-held power tools is associated with work-related upper extremity musculoskeletal disorders. Using a pneumatic nutrunner, 21 men completed twelve 360 repetitive fastener-driving sessions on three joints (hard, soft and control) at slow and fast pace, and two different work:rest patterns. Handgrip force and perceived exertions were collected throughout each session. For the control joint, the mean grip force exerted was 39.6% of maximum voluntary exertion (MVE) whereas during hard and soft joint sessions it was 48.9% MVE and 56.9% MVE, respectively. Throughout each session, the grip force decreased, more while operating soft and hard joints as compared with the control joint (regression slope: ?0.022 and ?0.023, compared with ?0.007 N/drive, respectively), suggesting considerable upper extremity muscular effort by participants during torque buildup. Fast work pace resulted in higher average grip forces by participants but a greater decrease in the force as the session progressed. Providing rest breaks reduced perceived exertions. The findings gain additional knowledge for assembly task design to possibly reduce the hand/arm injury risks for the operator.

Practitioner Summary: Powered hand tools are widely used in assembly and manufacturing industries. However, the nature of their repetitive use on human operator biomechanical and perceptual responses is not fully understood. This study examined work-related risk factors such as joint torque, pace and work:rest ratios on powered hand tool performance.     

Wrist posture affects hand and forearm muscle stress during tapping

Non-neutral wrist posture is a risk factor of the musculoskeletal disorders among computer users. This study aimed to assess internal loads on hand and forearm musculature while tapping in different wrist postures. Ten healthy subjects tapped on a key switch using their index finger in four wrist postures: straight, ulnar deviated, flexed and extended. Torque at the finger and wrist joints were calculated from measured joint postures and fingertip force. Muscle stresses of the six finger muscles and four wrist muscles that balanced the calculated joint torques were estimated using a musculoskeletal model and optimization algorithm minimizing the squared sum of muscle stress. Non-neutral wrist postures resulted in greater muscle stresses than the neutral (straight) wrist posture, and the stress in the extensor muscles were greater than the flexors in all conditions. Wrist extensors stress remained higher than 4.5 N/cm² and wrist flexor stress remained below 0.5 N/cm² during tapping. The sustained high motor unit recruitment of extensors suggests a greater risk than other muscles especially in flexed wrist posture. This study demonstrated from the perspective of internal tissue loading the importance of maintaining neutral wrist posture during keying activities.     

Functionality‐Driven Musculature Retargeting

We present a novel retargeting algorithm that transfers the musculature of a reference anatomical model to new bodies with different sizes, body proportions, muscle capability, and joint range of motion while preserving the functionality of the original musculature as closely as possible. The geometric configuration and physiological parameters of musculotendon units are estimated and optimized to adapt to new bodies. The range of motion around joints is estimated from a motion capture dataset and edited further for individual models. The retargeted model is simulation‐ready, so we can physically simulate muscle‐actuated motor skills with the model. Our system is capable of generating a wide variety of anatomical bodies that can be simulated to walk, run, jump and dance while maintaining balance under gravity. We will also demonstrate the construction of individualized musculoskeletal models from bi‐planar X‐ray images and medical examination.     

Contact Modeling and Identification of Planar Somersaults on the Trampoline

This paper presents an extensive study on the trampoline-performed planar somersaults. First, a multibody biomechanical model of the trampolinist and the recurrently interacting trampoline bed are developed, including both the motion equations and the determination of joint reactions. The mathematical model is then identified –the mass and inertia characteristics of the human body are estimated, and the stiffness and damping characteristics of the trampoline bed are measured. By recording the actual somersault performances the motion characteristics of the stunts, i.e. the time variations of positions, velocities and accelerations of the body parts are also obtained. Finally, an inverse dynamics formulation for the system designated as an under-controlled system, is developed. The followed inverse dynamics simulation results in the torques of muscle forces in the joints that assure the realization of the actual motion. The reaction forces in the joints during the analyzed evolutions are also determined. Using the kinematic and dynamics characteristics, the nature of the stunts, the way the human body is maneuvered and controlled, can be studied.     

Technique, muscle activity and kinematic differences in young adults texting on mobile phones

The aim of this study was to investigate whether there are differences in technique between young adults with and without musculoskeletal symptoms when using a mobile phone for texting and whether there are differences in muscle activity and kinematics between different texting techniques. A total of 56 young adults performed a standardised texting task on a mobile phone. Their texting techniques were registered using an observation protocol. The muscular activity in six muscles in the right forearm/hand and both shoulders were registered by surface electromyography and the thumb abduction/adduction and flexion/extension were registered using a biaxial electrogoniometer. Differences in texting techniques were found between the symptomatic and the asymptomatic group, with a higher proportion of sitting with back support and forearm support and with a neutral head position in the asymptomatic group. Differences in muscle activity and kinematics were also found between different texting techniques. The differences in texting technique between symptomatic and asymptomatic subjects cannot be explained by them having symptoms but may be a possible contribution to their symptoms. STATEMENT OF RELEVANCE: There has been a dramatically increased use of mobile phones for texting especially among young people during the last years. A better understanding of the physical exposure associated with the intensive use is important in order to prevent the development of musculoskeletal disorders and decreased work ability related to this use.     

An exploratory study of the relationship between biomechanical factors and right-arm musculoskeletal discomfort and fatigue in a VDT data-entry task

The relationship of key force and keystroke rate with right-arm musculoskeletal discomfort and fatigue was explored in a video-display-terminal (VDT) data-entry task. Forty-three data transcribers entered bogus data from tax forms at a VDT for one workday with their right hand. Peak key force and keystroke rate were monitored on a continuous basis. Self-ratings of right-arm discomfort and fatigue were assessed at periodic intervals. Stepwise regression analyses indicated that both lower key forces and lower keystroke rates were associated with higher ratings of right-elbow discomfort. In addition, lower key forces were associated with higher ratings of right-hand discomfort and lower keystroke rates were associated with higher ratings of right-shoulder discomfort and fatigue. The amount of variance accounted for by these models ranged from 7 to 24%. These results appear to be contrary to conventional biomechanical models that postulate a positive association between key force, keystroke rate and musculoskeletal discomfort in VDT work. Further laboratory and field research under controlled conditions is needed to clarify the direction and extent of the cause-and-effect relationship between biomechanical factors and musculoskeletal discomfort in VDT data-entry work.     

A musculoskeletal model driven by dual Microsoft Kinect Sensor data

Musculoskeletal modeling is becoming a standard method to estimate muscle, ligament and joint forces non-invasively. As input, these models often use kinematic data obtained using marker-based motion capture, which, however, is associated with several limitations, such as soft tissue artefacts and the time-consuming task of attaching markers. These issues can potentially be addressed by applying marker-less motion capture. Therefore, we developed a musculoskeletal model driven by marker-less motion capture data, based on two Microsoft Kinect Sensors and iPi Motion Capture software, which incorporated a method for predicting ground reaction forces and moments. For validation, selected model outputs (e.g. ground reaction forces, joint reaction forces, joint angles and joint range-of-motion) were compared to musculoskeletal models driven by simultaneously recorded marker-based motion capture data from 10 males performing gait and shoulder abduction with and without external load. The primary findings were that the vertical ground reaction force during gait and the shoulder abduction/adduction angles, glenohumeral joint reaction forces and deltoideus forces during both shoulder abduction tasks showed comparable results. In addition, shoulder abduction/adduction range-of-motions were not significantly different between the two systems. However, the lower extremity joint angles, moments and reaction forces showed discrepancies during gait with correlations ranging from weak to strong, and for the majority of the variables, the marker-less system showed larger standard deviations. Although discrepancies between the systems were identified, the marker-less system shows potential, especially for tracking simple upper-body movements.     

汽车转向机构间隙运动副的碰撞接触分析

应用多体动力学分析方法及仿真技术研究了某汽车转向机构间隙运动副在转向过程中的碰撞接触特性.首先应用ADAMS软件创建了该车的仿真模型.由悬架系统、转向系统、行驶系统等系统纰成.其次研究了『H]隙运动副的碰撞接触特性,包括转向横拉杆与转向梯形臂之间的运动副及转向梯形臂与悬架之间的运动副.根据实际工作特征,前者运动副采用空间圆柱铰模型,后者运动副采用平面圆柱铰模型.最后对模型进行了仿真分析.仿真结果表明,转向过程中,两问隙运动副的碰撞接触力与间隙大小成非线性关系,多个运动副间隙共存状念下各间隙运动副的碰撞接触力发生变化.这些研究结果为转向机构零部件设计、动力学特性分析提供了更为准确的实验依据.     

Wrist and forearm postures and motions during typing.

Awkward upper extremity postures and repetitive wrist motions have been identified by some studies as risk factors for upper extremity musculoskeletal disorders during keyboard work. However, accurate body postures and joint motions of typists typing on standardized workstations are not known. A laboratory study was conducted to continuously measure wrist and forearm postures and motions of 25 subjects while they typed for 10-15 min at a standard computer workstation adjusted to the subjects' anthropometry. Electrogoniometers continuously recorded wrist and forearm angles. Joint angular velocities and accelerations were calculated from the postural data. The results indicate that wrist and forearm postures during typing were sustained at non-neutral angles; mean wrist extension angle was 23.4 +/- 10.9 degrees on the left and 19.9 +/- 8.6 degrees on the right. Mean ulnar deviation was 14.7 +/- 10.1 degrees on the left and 18.6 +/- 5.8 degrees on the right. More than 73% of subjects typed with the left or right wrist in greater than 15 degrees extension and more than 20% typed with the left or right wrist in greater than 20 degrees ulnar deviation. Joint angles and motions while typing on an adjusted computer workstation were not predictable based on anthropometry or typing speed and varied widely between subjects. Wrist motions are rapid and are similar in magnitude to wrist motions of industrial workers performing jobs having a high risk for developing cumulative trauma disorders. The magnitude of the dynamic components suggests that wrist joint motions may need to be evaluated as a risk factor for musculoskeletal disorders during typing.     

Wrist and forearm postures and motions during typing

Awkward upper extremity postures and repetitive wrist motions have been identified by some studies as risk factors for upper extremity musculoskeletal disorders during keyboard work. However, accurate body postures and joint motions of typists typing on standardized workstations are not known. A laboratory study was conducted to continuously measure wrist and forearm postures and motions of 25 subjects while they typed for 10 – 15 min at a standard computer workstation adjusted to the subjects' anthropometry. Electrogoniometers continuously recorded wrist and forearm angles. Joint angular velocities and accelerations were calculated from the postural data. The results indicate that wrist and forearm postures during typing were sustained at non-neutral angles; mean wrist extension angle was 23.4 ± 10.9 degrees on the left and 19.9 ± 8.6 degrees on the right. Mean ulnar deviation was 14.7 ± 10.1 degrees on the left and 18.6 ± 5.8 degrees on the right. More than 73% of subjects typed with the left or right wrist in greater than 15 degrees extension and more than 20% typed with the left or right wrist in greater than 20 degrees ulnar deviation. Joint angles and motions while typing on an adjusted computer workstation were not predictable based on anthropometry or typing speed and varied widely between subjects. Wrist motions are rapid and are similar in magnitude to wrist motions of industrial workers performing jobs having a high risk for developing cumulative trauma disorders. The magnitude of the dynamic components suggests that wrist joint motions may need to be evaluated as a risk factor for musculoskeletal disorders during typing.     

Technique,muscle activity and kinematic differences in young adults texting on mobile phones

The aim of this study was to investigate whether there are differences in technique between young adults with and without musculoskeletal symptoms when using a mobile phone for texting and whether there are differences in muscle activity and kinematics between different texting techniques. A total of 56 young adults performed a standardised texting task on a mobile phone. Their texting techniques were registered using an observation protocol. The muscular activity in six muscles in the right forearm/hand and both shoulders were registered by surface electromyography and the thumb abduction/adduction and flexion/extension were registered using a biaxial electrogoniometer. Differences in texting techniques were found between the symptomatic and the asymptomatic group, with a higher proportion of sitting with back support and forearm support and with a neutral head position in the asymptomatic group. Differences in muscle activity and kinematics were also found between different texting techniques. The differences in texting technique between symptomatic and asymptomatic subjects cannot be explained by them having symptoms but may be a possible contribution to their symptoms.

Statement of Relevance: There has been a dramatically increased use of mobile phones for texting especially among young people during the last years. A better understanding of the physical exposure associated with the intensive use is important in order to prevent the development of musculoskeletal disorders and decreased work ability related to this use.     

Full-shift and task-specific upper extremity muscle activity among US large-herd dairy parlour workers

Abstract

US large-herd dairy parlour workers experience a high prevalence of musculoskeletal symptoms in the upper extremity. The purpose of this study was to estimate and compare full-shift and task-specific muscle activity of the upper extremity among parlour workers. Surface electromyography data were recorded continuously throughout a full work shift for each participant (n = 60). For a subset of participants (n = 33), muscular effort was estimated for milking task cycles. Lower muscle activity levels and higher per cent muscular rest was observed among rotary parlour participants as compared to herringbone and parallel parlour participants for anterior deltoid, forearm flexor and forearm extensor muscles. These findings suggest rotary parlours may offer workstation designs or work organisational dynamics which may be more beneficial to the health and performance of the worker, as compared to parallel or herringbone parlours.

Practitioner Summary: Study findings suggest milking parlour configurations present different biomechanical demands on workers which may influence worker health and performance. Our findings will enable more informed decisions regarding both engineering (e.g. parlour configuration or milking equipment) and administrative (e.g. work organisation) control strategies for large-herd milking parlours.