Musculoskeletal Systems Modeling
Hossein Rostami Barooji; Abdolreza Ohadi; Farzad Towhidkhah
Volume 17, Issue 2 , September 2023, , Pages 120-130
Abstract
Despite the extensive progress in the field of biomechanics of human gait, a suitable gait model with the ability to simulate the control system of the human brain has not yet been presented, especially in 3D mode. The importance of the issue increases when the simulation of human walking is one of the ...
Read More
Despite the extensive progress in the field of biomechanics of human gait, a suitable gait model with the ability to simulate the control system of the human brain has not yet been presented, especially in 3D mode. The importance of the issue increases when the simulation of human walking is one of the main requirements of designers of biomechanical equipment such as artificial organs, wearable robots and humanoid robots. Regarding the constraints and complexities of previous studies, in this research, a forward dynamic 3D model of gait based on sliding mode controller (SMC) is presented, which simulates the walking behavior of healthy individual on the ground in different movement phases. One of the strengths of this research is the comprehensive and analytical review of 3D rotation consequences of the joints coordinate systems, which is done with 11 DOF inverse dynamic model. Based on the obtained results, the SMC controller is well able to produce stable 3D human gait. Also, in 3D gait analysis, the Cardan rotation sequence is not suitable and YXZ order should be used. This outcome is a very useful result for 3D motion generation for human like walking pattern. The results of this study can be used in the design of humanoid robots, active and passive prostheses. Also, the presented model can simulate the walking of an amputee with a prosthesis and the role of the controller in the path, which is very important and beneficial in terms of rehabilitation.
Rehabilitation Engineering
Vahab Nekoukar; Abbas Erfanian Omidvar
Volume 4, Issue 4 , June 2010, , Pages 327-336
Abstract
One major limitation of walker-supported walking using functional electrical stimulation (FES) in paraplegic subjects is the high energy expenditure and the high upper body effort. Paraplegics should exert high amount of hand force to stabilize the body posture and to compensate lack of the sufficient ...
Read More
One major limitation of walker-supported walking using functional electrical stimulation (FES) in paraplegic subjects is the high energy expenditure and the high upper body effort. Paraplegics should exert high amount of hand force to stabilize the body posture and to compensate lack of the sufficient torques at the lower extremity joints. In this paper, we introduce a 2-D musculoskeletal model of walker-assisted FES-supported walking of paraplegics. Using the developed model and an optimal controller, the stimulation patterns are determined such that the tracking errors of lower joint reference trajectories are minimized and the muscle activations and the handle reaction force (HRF) are reduced. Outputs of the optimal controller are stimulation patterns of the lower body muscles and torque acting on the upper body joints. The results show that the HRF and ground reaction force (GRF) generated by simulation are in agreement with the measured HRF and GRF. Moreover, the results indicate that the simulation-generated stimulation patterns of lower body muscles are in consist with the stimulation patterns reported in the literatures.
