scholarly journals Non-Slender n-Link Chain Driven by Single-Joint and Multi-joint Muscle Actuators: Closed-Form Dynamic Equations and Joint Reaction Forces

2021 ◽  
Vol 11 (15) ◽  
pp. 6860
Author(s):  
Andrea Biscarini
Keyword(s):  
Closed Form ◽  
Center Of Mass ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Joint Torque ◽  
Dynamic Equations ◽  
Unique Contribution ◽  
Revolute Joints ◽  
Joint Reaction Forces ◽  
Analytical Quantification

The author has derived the closed-form dynamic equations for a planar musculoskeletal chain composed of a generic number n of rigid links connected by ideal revolute joints. Single-joint and multi-joint muscles have been modeled as linear force actuators that can span from one joint to all the joints of the chain. The generic shape and size of each individual link of the chain accounts for different alignments among the center of mass of the link, the centers of rotation of the joints that articulate the link with its neighbors, and the points of application of the muscle forces and the possible contact external resistances acting on the link. The joint torque and the reaction force acting on each joint have been determined in closed-form by analytical quantification of the unique contribution of each individual kinematic and kinetic variable: (1) force of each single-joint or multi-joint muscle spanning or non-spanning the joint; (2) weight and contact external resistances acting on each individual link of the chain; (3) position, angular velocity, and angular acceleration of each individual link of the chain. The analytical results derived in this study can be applied to multilink musculoskeletal chains with deep/superficial and segmental/global muscles.

A NEW STABILITY CRITERION FOR HUMAN SEATED TASKS WITH GIVEN POSTURES

2012 ◽  
Vol 09 (03) ◽  
pp. 1250015 ◽  
Author(s):  
BRADLEY HOWARD ◽  
JINGZHOU YANG
Keyword(s):  
Stability Analysis ◽  
Stability Criterion ◽  
Center Of Mass ◽  
Reaction Force ◽  
Joint Torque ◽  
Human Model ◽  
Digital Human Model ◽  
Applied Forces ◽  
The Stability ◽  
Digital Human

In digital human modeling (DHM), the analysis of postural stability has five main goals: to determine if a posture is stable or unstable through an explicit criterion; to quantify the level of stability or provide a margin of stability that accounts for the height of the center of mass (COM) above the support plane(s); to be valid in the presence of externally applied forces and moments; be able to assess stability when multiple noncoplanar support planes exist, as is the case with seated postures; and to give insight into the support reaction force (SRF) distribution. To date, there is not a method for analyzing stability that can effectively meet each goal. This paper presents a new stability criterion and stability analysis that accomplishes each intended goal. The stability analysis is derived from the calculation of joint torque using the recursive Lagrangian dynamic formulation. A 56-degree-of-freedom (DOF) articulated digital human model is used to model seated postures to demonstrate the proposed stability criterion. Different given postures with different external load cases are presented.

A Biomechanical Study of Side Steps at Different Distances

2013 ◽  
Vol 29 (3) ◽  
pp. 336-345 ◽  
Author(s):  
Yuki Inaba ◽  
Shinsuke Yoshioka ◽  
Yoshiaki Iida ◽  
Dean C. Hay ◽  
Senshi Fukashiro
Keyword(s):  
Inverse Dynamics ◽  
Center Of Mass ◽  
Reaction Force ◽  
Biomechanical Study ◽  
Joint Torque ◽  
Large Power ◽  
Lower Extremity Muscle ◽  
Ankle Joints ◽  
Hip Abduction ◽  
Muscle Groups

Lateral quickness is a crucial component of many sports. However, biomechanical factors that contribute to quickness in lateral movements have not been understood well. Thus, the purpose of this study was to quantify 3-dimensional kinetics of hip, knee, and ankle joints in side steps to understand the function of lower extremity muscle groups. Side steps at nine different distances were performed by nine male subjects. Kinematic and ground reaction force data were recorded, and net joint torque and work were calculated by a standard inverse-dynamics method. Extension torques and work done at hip, knee, and ankle joints contributed substantially to the changes in side step distances. On the other hand, hip abduction work was not as sensitive to the changes in the side step distances. The main roles of hip abduction torque and work were to accelerate the center of mass laterally in the earlier phase of the movement and to keep the trunk upright, but not to generate large power for propulsion.

scholarly journals Acute Effects of Handheld Loading on Standing Broad Jump in Youth Athletes

2021 ◽  
Vol 18 (9) ◽  
pp. 5046
Author(s):  
Wei-Hsun Tai ◽  
Ray-Hsien Tang ◽  
Chen-Fu Huang ◽  
Shin-Liang Lo ◽  
Yu-Chi Sung ◽  
...  
Keyword(s):  
High Speed ◽  
Center Of Mass ◽  
Reaction Force ◽  
Sampling Rate ◽  
Random Order ◽  
Horizontal Distance ◽  
Acute Effects ◽  
Vertical Ground Reaction Force ◽  
Strength And Conditioning ◽  
Peak Knee

The study aimed to investigate the acute effects of handheld loading on standing broad jump (SBJ) performance and biomechanics. Fifteen youth male athletes (mean age: 14.7 ± 0.9 years; body mass: 59.3 ± 8.0 kg; height: 1.73 ± 0.07 m) volunteered to participate in the study. Participants were assigned to perform SBJ with and without 4 kg dumbbells in a random order. Kinematic and kinetic data were collected using 10 infrared high-speed motion-capture cameras at a 250 Hz sampling rate and two force platforms at a 1000 Hz sampling rate. A paired t-test was applied to all variables to determine the significance between loading and unloading SBJs. Horizontal distance (p < 0.001), take-off distance (p = 0.001), landing distance (p < 0.001), horizontal velocity of center of mass (CoM; p < 0.001), push time (p < 0.001), vertical impulse (p = 0.003), and peak horizontal and vertical ground reaction force (GRF; p < 0.001, p = 0.017) were significantly greater in loading SBJ than in unloading SBJ. The take-off vertical velocity of CoM (p = 0.001), take-off angle (p < 0.001), peak knee and hip velocity (p < 0.001, p = 0.007), peak ankle and hip moment (p = 0.006, p = 0.011), and peak hip power (p = 0.014) were significantly greater in unloading SBJ than in loading SBJ. Conclusions: Acute enhancement in SBJ performance was observed with handheld loading. The present findings contribute to the understanding of biomechanical differences in SBJ performance with handheld loading and are highly applicable to strength and conditioning training for athletes.

scholarly journals A biomechanical study of load carriage by two paired subjects in response to increased load mass

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Guillaume Fumery ◽  
Nicolas A. Turpin ◽  
Laetitia Claverie ◽  
Vincent Fourcassié ◽  
Pierre Moretto
Keyword(s):  
Recovery Rate ◽  
Energy Recovery ◽  
Mechanical Energy ◽  
Center Of Mass ◽  
Step Length ◽  
Biomechanical Study ◽  
Load Carriage ◽  
Joint Torque ◽  
Total Mechanical Energy ◽  
Load Mass

AbstractThe biomechanics of load carriage has been studied extensively with regards to single individuals, yet not so much with regards to collective transport. We investigated the biomechanics of walking in 10 paired individuals carrying a load that represented 20%, 30%, or 40% of the aggregated body-masses. We computed the energy recovery rate at the center of mass of the system consisting of the two individuals plus the carried load in order to test to what extent the pendulum-like behavior and the economy of the gait were affected. Joint torque was also computed to investigate the intra- and inter-subject strategies occurring in response to this. The ability of the subjects to move the whole system like a pendulum appeared rendered obvious through shortened step length and lowered vertical displacements at the center of mass of the system, while energy recovery rate and total mechanical energy remained constant. In parallel, an asymmetry of joint moment vertical amplitude and coupling among individuals in all pairs suggested the emergence of a leader/follower schema. Beyond the 30% threshold of increased load mass, the constraints at the joint level were balanced among individuals leading to a degraded pendulum-like behavior.

SCATTERING AND DISSOCIATION OF DEUTERONS AND 3H-NUCLEI BY NUCLEI AT INTERMEDIATE ENERGIES

1995 ◽  
Vol 04 (03) ◽  
pp. 563-586 ◽  
Author(s):  
YU. A. BEREZHNOY ◽  
V. YU. KORDA
Keyword(s):  
Elastic Scattering ◽  
Closed Form ◽  
Cross Sections ◽  
Differential Cross ◽  
Particle System ◽  
Center Of Mass ◽  
Scattering Angle ◽  
Intermediate Energies ◽  
Oscillating Functions ◽  
Analytical Expressions

We present a closed-form description that enables us to obtain the analytical expressions for the elastic scattering and dissociation differential cross-sections of deuterons and 3H-nuclei by heavy target nuclei. The resulting expressions are used to analyze the data for the 110 MeV deuterons elastically scattered on 208Pb-nuclei. The dissociation cross-sections of deuterons and 3H-nuclei are the oscillating functions of the scattering angle of the released two- and three-nucleon-particle system center-of-mass.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

Inter-Subject Variability in Ground Reaction Force - Walking Speed Relationship Is Related to Different Motion of the Center of Mass

2009 ◽  
Author(s):  
Katherine Boyer ◽  
Jonathan Rylander ◽  
Thomas Andriacchi ◽  
Gary Beaupre
Keyword(s):  
Individual Differences ◽  
Bone Mass ◽  
Training Programs ◽  
Center Of Mass ◽  
Reaction Force ◽  
Positive Influence ◽  
Variable Response ◽  
Mineral Density ◽  
Populations At Risk ◽  
Walking Programs

Walking programs provide an attractive intervention to address the preservation of bone mass in the aging population. Research suggests one in three women and one in five men over 50 will experience fractures due to osteoporosis [1,2]. Bone is a mechanically modulated tissue and thus, training programs that prescribe physical activities that dynamically load the skeleton through either muscle contractions (strength training) or locomotion (walking/running) would be expected to have a positive influence on bone mineral density (BMD) preservation. However, attempts to implement activity programs in populations at risk for developing osteoporosis to accrue or simply preserve bone mass have had limited success [3] due to a variable response between subjects. It has been suggested that the failure of these programs to significantly influence bone mass or density may be due to individual differences in the loads generated by the prescribed exercise regimes and/or the knowledge of specific types, intensities and volumes needed for effective osteogenic exercise. Walking, a simple, common activity, presents an interesting opportunity to examine the potential for individual differences in the style of walking to explain the variability in individual results to training programs designed to preserve bone density.

Biomechanics Differ for Individuals With Similar Self-Reported Characteristics of Patellofemoral Pain During a High-Demand Multiplanar Movement Task

2020 ◽  
pp. 1-10
Author(s):  
Matthew K. Seeley ◽  
Seong Jun Son ◽  
Hyunsoo Kim ◽  
J. Ty Hopkins
Keyword(s):  
Ground Reaction Force ◽  
Injury Risk ◽  
Reaction Force ◽  
Patellofemoral Pain ◽  
Joint Torque ◽  
Whole Body ◽  
Ground Contact ◽  
High Demand ◽  
Contact Phase ◽  
Hip Extension

Context: Patellofemoral pain (PFP) is often categorized by researchers and clinicians using subjective self-reported PFP characteristics; however, this practice might mask important differences in movement biomechanics between PFP patients. Objective: To determine whether biomechanical differences exist during a high-demand multiplanar movement task for PFP patients with similar self-reported PFP characteristics but different quadriceps activation levels. Design: Cross-sectional design. Setting: Biomechanics laboratory. Participants: A total of 15 quadriceps deficient and 15 quadriceps functional (QF) PFP patients with similar self-reported PFP characteristics. Intervention: In total, 5 trials of a high-demand multiplanar land, cut, and jump movement task were performed. Main Outcome Measures: Biomechanics were compared at each percentile of the ground contact phase of the movement task (α = .05) between the quadriceps deficient and QF groups. Biomechanical variables included (1) whole-body center of mass, trunk, hip, knee, and ankle kinematics; (2) hip, knee, and ankle kinetics; and (3) ground reaction forces. Results: The QF patients exhibited increased ground reaction force, joint torque, and movement, relative to the quadriceps deficient patients. The QF patients exhibited: (1) up to 90, 60, and 35 N more vertical, posterior, and medial ground reaction force at various times of the ground contact phase; (2) up to 4° more knee flexion during ground contact and up to 4° more plantarflexion and hip extension during the latter parts of ground contact; and (3) up to 26, 21, and 48 N·m more plantarflexion, knee extension, and hip extension torque, respectively, at various times of ground contact. Conclusions: PFP patients with similar self-reported PFP characteristics exhibit different movement biomechanics, and these differences depend upon quadriceps activation levels. These differences are important because movement biomechanics affect injury risk and athletic performance. In addition, these biomechanical differences indicate that different therapeutic interventions may be needed for PFP patients with similar self-reported PFP characteristics.

Mechanical power output during running accelerations in wild turkeys

2002 ◽  
Vol 205 (10) ◽  
pp. 1485-1494 ◽  
Author(s):  
Thomas J. Roberts ◽  
Jeffrey A. Scales
Keyword(s):  
Power Output ◽  
Ground Reaction Force ◽  
Center Of Mass ◽  
Reaction Force ◽  
Mechanical Power ◽  
Force Vector ◽  
Instantaneous Power ◽  
Hindlimb Muscle ◽  
Wild Turkeys ◽  
Running Mechanics

SUMMARYWe tested the hypothesis that the hindlimb muscles of wild turkeys(Meleagris gallopavo) can produce maximal power during running accelerations. The mechanical power developed during single running steps was calculated from force-plate and high-speed video measurements as turkeys accelerated over a trackway. Steady-speed running steps and accelerations were compared to determine how turkeys alter their running mechanics from a low-power to a high-power gait. During maximal accelerations, turkeys eliminated two features of running mechanics that are characteristic of steady-speed running: (i) they produced purely propulsive horizontal ground reaction forces, with no braking forces, and (ii) they produced purely positive work during stance, with no decrease in the mechanical energy of the body during the step. The braking and propulsive forces ordinarily developed during steady-speed running are important for balance because they align the ground reaction force vector with the center of mass. Increases in acceleration in turkeys correlated with decreases in the angle of limb protraction at toe-down and increases in the angle of limb retraction at toe-off. These kinematic changes allow turkeys to maintain the alignment of the center of mass and ground reaction force vector during accelerations when large propulsive forces result in a forward-directed ground reaction force. During the highest accelerations, turkeys produced exclusively positive mechanical power. The measured power output during acceleration divided by the total hindlimb muscle mass yielded estimates of peak instantaneous power output in excess of 400 W kg-1 hindlimb muscle mass. This value exceeds estimates of peak instantaneous power output of turkey muscle fibers. The mean power developed during the entire stance phase increased from approximately zero during steady-speed runs to more than 150 W kg-1muscle during the highest accelerations. The high power outputs observed during accelerations suggest that elastic energy storage and recovery may redistribute muscle power during acceleration. Elastic mechanisms may expand the functional range of muscle contractile elements in running animals by allowing muscles to vary their mechanical function from force-producing struts during steady-speed running to power-producing motors during acceleration.

Laboratory and field evaluation of a small form factor head impact sensor in un-helmeted play

2017 ◽  
Vol 232 (3) ◽  
pp. 242-254 ◽  
Author(s):  
Derek Nevins ◽  
Kasee Hildenbrand ◽  
Jeff Kensrud ◽  
Anita Vasavada ◽  
Lloyd Smith
Keyword(s):  
Form Factor ◽  
Center Of Mass ◽  
False Negative ◽  
Angular Acceleration ◽  
Linear Acceleration ◽  
Field Evaluation ◽  
Head Impact ◽  
Sensor Data ◽  
Small Form ◽  
Small Form Factor

Head impact sensors are increasingly used to quantify the frequency and magnitude of head impacts in sports. A dearth of information exists regarding head impact in un-helmeted sport, despite the substantial number of concussions experienced in these sports. This study evaluated the performance of one small form factor head impact sensor in both laboratory and field environments. In laboratory tests, sensor performance was assessed using a Hybrid III headform and neck. The headform assembly was mounted on a low-friction sled and impacted with three sports balls over a range of velocities (10–31 m/s) at two locations and from three directions. Measures of linear and angular acceleration obtained from the small form factor wireless sensor were compared to measures of linear and angular acceleration obtained by wired sensors mounted at the headform center of mass. Accuracy of the sensor varied inversely with impact magnitude, with relative differences across test conditions ranging from 0.1% to 266.0% for peak linear acceleration and 4.7% to 94.6% for peak angular acceleration when compared to a wired reference system. In the field evaluation, eight male high school soccer players were instrumented with the head impact sensor in seven games. Video of the games was synchronized with sensor data and reviewed to determine the number of false positive and false negative head acceleration event classifications. Of the 98 events classified as valid by the sensor, 20.5% (20 impacts) did not result from contact with the ball, another player, the ground or player motion and were therefore considered false positives. Video review of events classified as invalid or spurious by the sensor found 77.8% (14 of 18 impacts) to be due to contact with the ball, another player or player motion and were considered false negatives.

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