Forward Dynamic Modeling Of Human Locomotion
DOWNLOAD
Download Forward Dynamic Modeling Of Human Locomotion PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Forward Dynamic Modeling Of Human Locomotion book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
Forward Dynamic Modeling Of Human Locomotion
DOWNLOAD
Author : James Lanphier Patton
language : en
Publisher:
Release Date : 1993
Forward Dynamic Modeling Of Human Locomotion written by James Lanphier Patton and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with Human locomotion categories.
Neuro Motor Control And Feed Forward Models Of Locomotion In Humans
DOWNLOAD
Author : Marco Iosa
language : en
Publisher: Frontiers Media SA
Release Date : 2015-07-29
Neuro Motor Control And Feed Forward Models Of Locomotion In Humans written by Marco Iosa and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-07-29 with Human locomotion categories.
Locomotion involves many different muscles and the need of controlling several degrees of freedom. Despite the Central Nervous System can finely control the contraction of individual muscles, emerging evidences indicate that strategies for the reduction of the complexity of movement and for compensating the sensorimotor delays may be adopted. Experimental evidences in animal and lately human model led to the concept of a central pattern generator (CPG) which suggests that circuitry within the distal part of CNS, i.e. spinal cord, can generate the basic locomotor patterns, even in the absence of sensory information. Different studies pointed out the role of CPG in the control of locomotion as well as others investigated the neuroplasticity of CPG allowing for gait recovery after spinal cord lesion. Literature was also focused on muscle synergies, i.e. the combination of (locomotor) functional modules, implemented in neuronal networks of the spinal cord, generating specific motor output by imposing a specific timing structure and appropriate weightings to muscle activations. Despite the great interest that this approach generated in the last years in the Scientific Community, large areas of investigations remain available for further improvement (e.g. the influence of afferent feedback and environmental constrains) for both experimental and simulated models. However, also supraspinal structures are involved during locomotion, and it has been shown that they are responsible for initiating and modifying the features of this basic rhythm, for stabilising the upright walking, and for coordinating movements in a dynamic changing environment. Furthermore, specific damages into spinal and supraspinal structures result in specific alterations of human locomotion, as evident in subjects with brain injuries such as stroke, brain trauma, or people with cerebral palsy, in people with death of dopaminergic neurons in the substantia nigra due to Parkinson’s disease, or in subjects with cerebellar dysfunctions, such as patients with ataxia. The role of cerebellum during locomotion has been shown to be related to coordination and adaptation of movements. Cerebellum is the structure of CNS where are conceivably located the internal models, that are neural representations miming meaningful aspects of our body, such as input/output characteristics of sensorimotor system. Internal model control has been shown to be at the basis of motor strategies for compensating delays or lacks in sensorimotor feedbacks, and some aspects of locomotion need predictive internal control, especially for improving gait dynamic stability, for avoiding obstacles or when sensory feedback is altered or lacking. Furthermore, despite internal model concepts are widespread in neuroscience and neurocognitive science, neurorehabilitation paid far too little attention to the potential role of internal model control on gait recovery. Many important scientists have contributed to this Research Topic with original studies, computational studies, and review articles focused on neural circuits and internal models involved in the control of human locomotion, aiming at understanding the role played in control of locomotion of different neural circuits located at brain, cerebellum, and spinal cord levels.
Optimal Control And Multibody Dynamic Modelling Of Human Musculoskeletal Systems
DOWNLOAD
Author : Mohammad Sharif Shourijeh
language : en
Publisher:
Release Date : 2013
Optimal Control And Multibody Dynamic Modelling Of Human Musculoskeletal Systems written by Mohammad Sharif Shourijeh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
Musculoskeletal dynamics is a branch of biomechanics that takes advantage of interdisciplinary models to describe the relation between muscle actuators and the corresponding motions of the human body. Muscle forces play a principal role in musculoskeletal dynamics. Unfortunately, these forces cannot be measured non-invasively. Measuring surface EMGs as a non-invasive technique is recognized as a surrogate to invasive muscle force measurement; however, these signals do not reflect the muscle forces accurately. Instead of measurement, mathematical modelling of the musculoskeletal dynamics is a well established tool to simulate, predict and analyse human movements. Computer simulations have been used to estimate a variety of variables that are difficult or impossible to measure directly, such as joint reaction forces, muscle forces, metabolic energy consumption, and muscle recruitment patterns. Musculoskeletal dynamic simulations can be divided into two branches: inverse and forward dynamics. Inverse dynamics is the approach in which net joint moments and/or muscle forces are calculated given the measured or specified kinematics. It is the most popular simulation technique used to study human musculoskeletal dynamics. The major disadvantage of inverse dynamics is that it is not predictive and can rarely be used in the cause-effect interpretations. In contrast with inverse dynamics, forward dynamics can be used to determine the human body movement when it is driven by known muscle forces. The musculoskeletal system (MSS) is dynamically under-determinate, i.e., the number of muscles is more than the degrees of freedom (dof) of the system. This redundancy will lead to infinite solutions of muscle force sets, which implies that there are infinite ways of recruiting different muscles for a specific motion. Therefore, there needs to be an extra criterion in order to resolve this issue. Optimization has been widely used for solving the redundancy of the force-sharing problem. Optimization is considered as the missing consideration in the dynamics of the MSS such that, once appended to the under-determinate problem, \human-like" movements will be acquired. \Human-like" implies that the human body tends to minimize a criterion during a movement, e.g., muscle fatigue or metabolic energy. It is commonly accepted that using those criteria, within the optimization necessary in the forward dynamic simulations, leads to a reasonable representation of real human motions. In this thesis, optimal control and forward dynamic simulation of human musculoskeletal systems are targeted. Forward dynamics requires integration of the differential equations of motion of the system, which takes a considerable time, especially within an optimization framework. Therefore, computationally efficient models are required. Musculoskeletal models in this thesis are implemented in the symbolic multibody package MapleSim that uses Maple as the leverage. MapleSim generates the equations of motion governing a multibody system automatically using linear graph theory. These equations will be simplified and highly optimized for further simulations taking advantage of symbolic techniques in Maple. The output codes are the best form for the equations to be applied in optimization-based simulation fields, such as the research area of this thesis. The specific objectives of this thesis were to develop frameworks for such predictive simulations and validate the estimations. Simulating human gait motion is set as the end goal of this research. To successfully achieve that, several intermediate steps are taken prior to gait modelling. One big step was to choose an efficient strategy to solve the optimal control and muscle redundancy problems. The optimal control techniques are benchmarked on simpler models, such as forearm flexion/extension, to study the efficacy of the proposed approaches more easily. Another major step to modelling gait is to create a high-fidelity foot-ground contact model. The foot contact model in this thesis is based on a nonlinear volumetric approach, which is able to generate the experimental ground reaction forces more effectively than the previously used models. Although the proposed models and approaches showed strong potential and capability, there is still room for improvement in both modelling and validation aspects. These cutting-edge future works can be followed by any researcher working in the optimal control and forward dynamic modelling of human musculoskeletal systems.
Application Of Different Control Strategies To The Forward Dynamic Simulation Of Human Gait
DOWNLOAD
Author : Olga Pätkau
language : en
Publisher:
Release Date : 2014
Application Of Different Control Strategies To The Forward Dynamic Simulation Of Human Gait written by Olga Pätkau and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
In this thesis, two different control strategies are applied to the forward dynamic simulation of multibody systems in order to track a given reference motion. For this purpose, two different computational models are presented: a four-bar linkage model with one degree of freedom; and a two-dimensional human body model that consists of 12 segments with 14 degrees of freedom. The forward dynamic analysis of the two models is implemented using the matrix-R formulation and carried out by means of a variablestep integration solver. Furthermore, an analysis and comparison of different numerical integration methods are carried out. The joint forces and torques, which are applied to the multibody systems in order to drive their motion, are provided through an inverse dynamic analysis. In order to stabilize the simulation and to enable the tracking of a reference motion, two control methods are introduced: a proportional derivative control and a computed torque control using feedback linearization. The design of both control approaches is developed and applied to the forward dynamic simulation of both models. The system performance is evaluated by comparing the results with the reference motion. The reference human motion of a healthy subject was captured previously in a biomechanics laboratory. Moreover, the robustness of the computed torque control approach is analysed. In addition, environmental and social impacts of this thesis are outlined and an economical consideration is included.
A General Model Of Legged Locomotion On Natural Terrain
DOWNLOAD
Author : David J. Manko
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
A General Model Of Legged Locomotion On Natural Terrain written by David J. Manko and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system. A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines. This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.
Increasing Accuracy And Establishing Statistical Confidence Of Forward Dynamic Simulations Of Human Movement
DOWNLOAD
Author : Matthew Joseph Camilleri
language : en
Publisher:
Release Date : 2006
Increasing Accuracy And Establishing Statistical Confidence Of Forward Dynamic Simulations Of Human Movement written by Matthew Joseph Camilleri and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
An Object Oriented Model Of The Human Lower Extremity For Inverse And Forward Dynamic Simulation Of Human Gait
DOWNLOAD
Author : Daniel Strobach
language : en
Publisher:
Release Date : 2009
An Object Oriented Model Of The Human Lower Extremity For Inverse And Forward Dynamic Simulation Of Human Gait written by Daniel Strobach and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with categories.
Human And Machine Locomotion
DOWNLOAD
Author : A. Morecki
language : en
Publisher: Springer
Release Date : 2014-05-04
Human And Machine Locomotion written by A. Morecki and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-04 with Technology & Engineering categories.
This book covers the state-of-the-art in both biological and artificial legged locomotion systems. The seven chapters focus on topics ranging from very detailed modelling of the musculo-skeletal system, through mathematical modelling and simulation to theories applicable to locomotion mechanics and control. The final two chapters deal with the mechanics, control and design of artificial legged locomotion systems.
Design And Operation Of Human Locomotion Systems
DOWNLOAD
Author : Marco Ceccarelli
language : en
Publisher: Academic Press
Release Date : 2019-10-15
Design And Operation Of Human Locomotion Systems written by Marco Ceccarelli and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-10-15 with Technology & Engineering categories.
Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems
Human Dynamics Modeling Topic 97 2 A97 O24
DOWNLOAD
Author :
language : en
Publisher:
Release Date : 1998
Human Dynamics Modeling Topic 97 2 A97 O24 written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1998 with categories.
The purpose of the Phase 1 research was to investigate and prototype methods to simulate realistic human activities utilizing physics based motions and limb trajectory control strategies. Under the Phase 1 work, researchers successfully simulated dynamic motion, impacts, and control schemes utilizing an advanced human model and 3D computer graphics program (Transom Jack). A comprehensive survey of potential control schemes was completed and documented, and the most promising control method was further developed. Potential applications for this work include dynamic simulation of human movement and locomotion under varying timing and loading conditions. The combination of 3D graphics, a realistic human biomechanical model, physics based motion, and dynamic control capabilities will allow assessment of energy expenditure, joint loading, and man equipment interface issues.