Multibody modeling of human body for the inverse dynamics analysis of sagittal plane movements

A multibody methodology for systematic construction of a two-dimensional biomechanical model of a human body is presented, aimed at effective determination of the muscle forces and joint reaction forces in the lower extremities during sagittal plane movements such as vertical jump, standing long jump or jumping down from a height. While the hip, knee and ankle joints are modeled as enforced directly by the muscle forces applied to the foot, shank, thigh and pelvis at the muscle attachment points, the actuation of the other joints is simplified to the torques representing the respective muscle action. The developed formulation is applicable to both the flying and support phases, enhanced by an effective scheme for the determination of reaction forces exclusively in the lower extremity joints. The determination of reactions from the ground is also provided. The problem of muscle force redundancy in the lower extremities is solved by applying the pseudoinverse method, with post-processing procedures used to assure the muscle being tensile. Results of the inverse dynamics analysis of vertical jump are reported.     

Kinematic modeling of head-neck movements

The main objective is to generate kinematic models for the head and neck movements. The motivation comes from our study of individuals with quadriplegia and the need to design rehabilitation aiding devices such as robots and teletheses that can be controlled by head-neck movements. It is then necessary to develop mathematical models for the head and neck movements. Two identification methods have been applied to study the kinematics of head-neck movements of able-body as well as neck-injured subjects. In particular, sagittal plane movements are well modeled by a planar two-revolute-joint linkage. In fact, the motion in joint space seems to indicate that sagittal plane movements may be classified as a single DOF motion. Finally, a spatial three-revolute-joint system has been employed to model 3D head-neck movements     

Effect of transported mass and constant force on times for ballistic and visually-controlled movements

Abstract

A series of experiments are reported in which the effects of transferred mass and resistive/assistive forces were investigated for both ballistic and visually-controlled movements. The first experiment involved the transfer of mass in the horizontal plane so that only inertia] forces were present. This was followed by experiments in which movements were made with a purely resistive or assistive force, without the presence of increased inertia. Finally the effects of transferring mass in the vertical direction were investigated, where resistive/assistive forces were present due to gravity, as well as increased inertia force due to the transferred mass. Both theoretical and empirical models are presented for each of these cases. It was found that, for both ballistic and visually-controlled movements, the data were well accounted for simply by a component of added time proportional to the transferred mass or the magnitude of the constant force. This result is in agreement with the procedure used in some predetermined motion time systems.     

A study on human gait dynamics: modeling and simulations on OpenSim platform

Multimedia Tools and Applications - The analysis of human gait dynamics allows an individual to obtain interesting biometric features through which gait disturbances can be observed from normal and...     

Pre-obesity and obesity impacts on passive joint range of motion

Despite the prevalence of pre-obesity and obesity, the physical capabilities of pre-obese/obese individuals are not well documented. As an effort to address this, this study investigated the pre-obesity and obesity impacts on joint range of motion (RoM) for twenty-two body joint motions. A publicly available passive RoM dataset was analysed. Three BMI groups (normal-weight, pre-obese, and obese [Class I]) were statistically compared in joint RoM. The pre-obese and obese groups were found to have significantly smaller RoM means than the normal-weight for elbow flexion and supination, hip extension and flexion, knee flexion and ankle plantar flexion. The pre-obese and obese groups exhibited no significant inter-group mean RoM differences except for knee flexion; for knee flexion, the obese group had significantly smaller RoM means than the pre-obese. The findings would be useful for designing work tasks and products/systems for high BMI individuals and developing digital human models representing differently sized individuals.

Practitioner summary: This study investigated the pre-obesity and obesity impacts on joint range of motion (RoM) by comparing three participant groups: normal-weight; pre-obese and obese. The pre-obese and obese groups had significantly smaller RoM means than the normal-weight for elbow flexion and supination; hip extension and flexion; knee flexion and ankle plantar flexion.

Abbreviations: ANCOVA: Analysis of Covariance; BMI: Body Mass Index; CI: Confidence Interval; RoM: Range of Motion; SPSS: Statistical Package for the Social Sciences     

Computational motor control and human factors: modeling movements in real and possible environments

An aim of human factors research is to have models that allow for the advance design of user-friendly environments. This is still a distant dream because existing models are not yet sufficiently sophisticated. Models in the domain of motor control are a case in point, but recent developments in computational motor control suggest that the gap between the current state of modeling in this area and the desired state is shrinking. To illustrate this point, we review principles of motor control research that any model of motor control must accommodate. Then we describe a model that captures many of the capacities of actors in the everyday world, including the capacity to reach for objects in different ways depending on factors such as the ease with which different joints can rotate, the required speed of movement, and whether obstacles are present. The model relies on the ideas that goal postures are internally specified before movements are generated, that tasks are defined with flexibly ordered constraint hierarchies, and that movements can be shaped according to task demands. Actual or potential applications of this research include designing and testing possible environments where motor components play a key role.     

基于模板技术的汽车多体动力学建模研究

针对当前汽车动力学仿真软件建模复杂度高、模型结构不易理解、模板开放性不高等缺点,提出开放的模板化建模技术.将汽车动力学模型分解为相对独立的子系统并抽象为基本模板,采用“基本模板—结构模板—模板实例化”的架构,用XML描述模板,从而实现模板的开放性,构建汽车动力学模型的树状层级模板库和实例库,结合基于实例推理的方法生成模型.在此基础上开发了汽车整车建模软件,并以某重型汽车起重机为例说明了该技术的应用.     

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple smooth impacts with redundancy

This article proposes a simple linear-by-part approach for perfectly elastic 3D multiple-point impacts in multibody systems with perfect constraints and no friction, applicable both to nonredundant and redundant cases (where the normal velocities of the contact points are not independent). The approach is based on a vibrational dynamical model, and uses the so called “independent contact space.” Two different time and space scales are used. At the macroscale, the impact interval is negligible, and the overall system configuration is assumed to be constant. Consequently, the inertia and Jacobian matrices appearing in the formulation are also constant. The dynamics at the contact points is simulated through stiff springs undergoing very small deformations and generating system vibrations at the microscale. The total impact interval is split into phases, each corresponding to a constant set of compressed springs responsible for an elastic potential energy. For each phase, a reduced inertia matrix associated with a set of contact points, and a reduced stiffness matrix obtained from the potential energy (associated with all contact points undergoing compression) are introduced. From these matrices, a modal analysis is performed yielding an all-analytical solution within each phase. The main difference between the redundant and nonredundant cases concerns the inertia and stiffness matrices for modal analysis. While in the former case, both are related to the total set of contact points (total contact space), in the latter one they are related to two subsets: a subset of independent points for the inertia matrix (independent contact space), and the total set for the stiffness matrix. A second difference concerns the calculation of the normal impulses generated at each contact point. For the nonredundant case, they can be directly obtained from the total incremental normal velocities of the contact points through the inertia and stiffness matrices. For the redundant one, they can be obtained by adding up their incremental values at each impact phase. This requires an updating of a new effective stiffness matrix depending on the contact points undergoing compression at each phase. Four planar application cases are presented involving a single body and a multibody system colliding with a smooth ground.     

Effect of the field of view on perceiving world-referenced image motion during concurrent head movements

We have previously shown that concurrent head movements impair head-referenced image motion perception when compensatory eye movements are suppressed (Li, Adelstein, & Ellis, 2009) [16]. In this paper, we examined the effect of the field of view on perceiving world-referenced image motion during concurrent head movements. Participants rated the motion magnitude of a horizontally oscillating checkerboard image presented on a large screen while making yaw or pitch head movements, or holding their heads still. As the image motion was world-referenced, head motion elicited compensatory eye movements from the vestibular-ocular reflex to maintain the gaze on the display. The checkerboard image had either a large (73°H × 73°V) or a small (25°H × 25°V) field of view (FOV). We found that perceptual sensitivity to world-referenced image motion was reduced by 20% during yaw and pitch head movements compared to the veridical levels when the head was still, and this reduction did not depend on the display FOV size. Reducing the display FOV from 73°H × 73°V to 25°H × 25°V caused an overall underestimation of image motion by 7% across the head movement and head still conditions. We conclude that observers have reduced perceptual sensitivity to world-referenced image motion during concurrent head movements independent of the FOV size. The findings are applicable in the design of virtual environment countermeasures to mitigate perception of spurious motion arising from head tracking system latency.     

Activation dynamics in the optimization of targeted movements

Human movements, and their underlying muscular recruitment strategies, can be studied in several ways. In order to increase the understanding of human movement planning strategies, the movement problem is here seen as a boundary value problem for a mechanism with prescribed initial and final configurations. The time variations of a set of control actuator forces are supposed to fulfil some optimality criterion while creating this motion. The boundary value problem is discretized by temporal finite element interpolation, where the discrete variables are seen in an optimization context. The present work focusses on the introduction of the activation dynamics of the actuators, introducing a delay in the force production from the stimulation variables. The choice of interpolations of the variables is discussed in the light of the optimization setting. Examples show aspects of the results obtained for different assumptions. It is concluded that the formulation gives a good basis for further improvement of muscular force production models in an optimal movement setting.     

Modelling the impacts of land system dynamics on human well-being: Using an agent-based approach to cope with data limitations in Koper,Slovenia

To cope with data limitations and to provide insight into the dynamics of LUCC for local stakeholders in the Municipality of Koper, Slovenia, we constructed an ABM (loosely defined) that integrates utility theory, logistic regression, and cellular automaton-like rules to represent the decision-making strategies of different agents. The model is used to evaluate the impact of LUCC on human well-being, as represented by the provision of highly productive agricultural soil, the extent of noise pollution, and quality-of-life measurements. Results for the Municipality of Koper show that, under a range of model assumptions, (1) high quality agricultural soils are disproportionately affected by urban growth, (2) aggregate resident quality of life increases non-linearly with a change in development density, (3) some drivers of residential settlement produce non-linear preference responses, and (4) clustering industrial development had a beneficial impact on human well-being. Additional novel contributions include the incorporation of noise pollution feedbacks and an approach to empirically inform agent preferences using a conjoint analysis of social survey data.     

Mathematical modeling of the dynamics of consolidation processes with relaxation effects

The consolidation of salt-saturated porous media is modeled with space-time nonlocality effects and with/without the relaxation of the filtration rate taken into account. A numerical algorithm for modeling the dynamics of the process is proposed and an asymptotic analysis of the problem for excess head is performed for weak spatial nonlocality. Translated from Kibernetika i Sistemnyi Analiz, No. 6, pp. 59–66, November–December 2008.     

Comparative analysis of MODIS-FAPAR and MERIS-MGVI datasets: Potential impacts on ecosystem modeling

Assessing the ecosystem productivity dynamics is a key issue in the context of the carbon cycle at the southern Europe ecosystems. The availability of remote sensing data and products, as FAPAR, strongly motivates its use in ecosystem modeling. This paper presents a comparative analysis between MODIS-FAPAR and MERIS-MGVI datasets, two products carrying similar information, from regional (the Iberian Peninsula) to local (six biomes) scales. Moreover, an assessment of the impacts of its use in terrestrial ecosystem modeling, by using the CASA production efficiency model is presented. The analysis was conducted for both datasets for the year 2003, and was supported by an extensive statistical analysis, including geostatistics, focusing both seasonality and spatial coherence. Main findings refer to (i) a systematically higher MODIS than MERIS data, both at the Iberian Peninsula and at local biomes, (ii) a seasonality of the correlation between the two datasets, and (iii) a spatial homogeneity over larger extensions from MERIS-MGVI data, opposing to a higher spatial variability from MODIS-FAPAR. Although these different data properties, it was found that the two independent datasets produce reasonable NEP estimates, by using CASA model at the site level. These results suggest that the MODIS-FAPAR and MERIS-MGVI differences can be minimized in biophysical modeling through model re-parameterization, although this process does not solve the seasonal dependence pattern found in the original datasets.     

Bio-mimetic trajectory generation based on human arm movements with a nonholonomic constraint

In this paper, a bio-mimetic trajectory of robots for manipulating a nonholonomic car is generated with a time base generator (TBG). In order to reveal what kind of trajectories the robots should generate for the given task, experiments with human subjects were performed. It has been shown that a human generates the trajectory with a single- or double-peaked velocity profile according to the geometrical conditions of the car. Then, bio-mimetic trajectories were generated by modeling the observed primitive profiles with the TBG and also compared with the human trajectories.     

基于质点-弹簧模型的布料仿真研究

运动微分方程的数值求解,是实现基于物理模型的织物仿真的技术关键.全面介绍了质点-弹簧模型的织物变形仿真技术,精确构建了织物的力学模型,并对几种不同的显性数值积分方法进行了详细比较,尤其是用RK-4方法对微分方程求解大大提高了解的稳定性.在此基础上,针对质点-弹簧模型在应用中存在过度拉伸的问题,指出了传统方法处理这个问题的缺陷,构造约束变形,合理解决了"超弹性"问题.此织物变形仿真技术已经应用于实际的织物动画仿真软件中,实践证明其仿真技术具有实用性和先进性.     

Animating human locomotion with inverse dynamics

Because the major force components (the internal muscular forces and torques) are not known a priori over time, you cannot use forward dynamics to predict how the human body will walk. The alternative to the apparently intractable problem of specifying the joint torque patterns in advance is to use inverse dynamics to analyze the torques and forces required for the given motion. Such an analysis can show, for example, that the motion induces excessive torque, that the system is out of balance at a certain point, or that the step length is too great. We present a method of using an inverse dynamics computation to dynamically balance the resulting walking motion and to maintain the joint torques within a moderate range imposed by human strength limits. This method corrects or predicts a motion as indicated by the inverse dynamics analysis. Dynamic correctness is a sufficient condition for realistic motion of nonliving objects. In animating a self-actuated system, however, visual realism is another important, separate criterion for determining the success of a technique. Dynamic correctness is not a sufficient condition for this visual realism. An animation of dynamically balanced walking that is also comfortable in the sense of avoiding strength violations can still look quite different from normal human walking. A visually realistic and dynamically sound animation of human locomotion is obtained using an effective combination of kinematic and dynamic techniques     

Symbolic modeling of robot kinematics and dynamics

As a component of advanced manufacturing technology, this report presents applications of FORM to solve symbolically a class of usual robotic problems. One advantage of this symbolic manipulation code is to perform, even on PCs, the manipulation of giant formulae. Though the code has a low built-in knowledge, but handles indices, vectors, matrices, traces, tensors, as well as factorial and delta functions, it can be directly ported on a large variety of computers such as Alliant, Appolo, Atari ST, Gould (NP1 and 9080), MacIntosh, PCs, SUN and VAX (VMS and Ultrix). The symbolic programs given in this paper perform on PCs the kinematics and dynamics analysis of simple robots via the free version 1.0 of FORM. This approach shows us a way to develop at low cost many useful robotic packages for education as well as Research & Development purposes.