Multibody Dynamics Approaches Of The
Humerus-shoulder Complex Driven By
Multimuscle Activations And Constraints
Author(s)
T. Tsuta, Y. Takeda & T. Iwamoto
Abstract
A multibody dynamics approach of the humerus-shoulder complex (HSC),
driven by a musculoskeletal system has been developed in this paper, and the
continuum mechanics modeling of skeletal-muscles with the evolutional
constitutive law of Hatze has been created at the same time. The constitutive
equations are formulated using the link coordinates at first, and then transformed
to the common global coordinate system. Based on the updated Lagrangian
approach, the human multibody dynamics for a multiple bone-joints system
driven by muscle activations has been formulated using the kinetic and potential
energies stored in the respective muscles and bone-joint system. Since the
governing equations of motion and the dynamic equilibrium equation includes
statically indeterminate problems such as the multimuscles constraint for joint
torques, they have been formulated, and solved, using Lagrangian multiplyer
approaches, under prescribed constraint and applied load conditions. Finally, an
actual application to the assistive technology of a stand-up motion, aided by the
humerus-shoulder complex for lifting one’s own upper body, has been analysed
and compared with those of experiment, and the applicability of the method
developed has been clarified.
Keywords: humerous-shoulder complex, multimuscle activations and
constraints, multibody dynamics, updated Lagrangian approach, Lagrangian
multiplyer’s approach, muscle’s statically indeterminate problems, application
to assistive technology.
Keywords
humerous-shoulder complex, multimuscle activations and
constraints, multibody dynamics, updated Lagrangian approach, Lagrangian
multiplyer’s approach, muscle’s statically indeterminate problems, application
to assistive technology.
Related Book
Other papers in this volume
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