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  • 简介:Inthispaperwedevelopanelasto-dynamicmodelofthehumanarmthatincludeseffectsofneuro-muscularcontroluponelasticdeformationinthelimb.Theelasto-dynamicmodelofthearmisbasedonhybridparametermultiplebodysystemvariationalprojectionprinciplespresentedinthecompanionpaper.Thoughthetechniqueissuitablefordetailedboneandjointmodeling,wepresentsimulationsforsimplifiedgeometryofthebones,discretizedasRayleighbeamswithelongation,whileallowingforlargedeflections.MotionoftheupperextremityissimulatedbyincorporatingmuscleforcesderivedfromaHill-typemodelofmusculotendondynamics.Theeffectsofmuscleforcearemodeledintwoways.Inoneapproach,aneffectivejointtorqueiscalculatedbymultiplyingthemuscleforcebyajointmomentann.Asecondapproachmodelsthemuscleasactingalongastraightlinebetweentheoriginandinsertionsitesofthetendon.Simplearmmotionissimulatedbyutilizingneuralfeedbackandfeedforwardcontrol.Simulationsillustratethecombinedeffectsofneuralcontrolstrategies,modelsofmuscleforceinclusion,andelasticassumptionsonjointtrajectoriesandstressandstraindevelopmentintheboneandtendon.

  • 标签: elasto-dynamics hybrid PARAMETER system musculo SKELETAL