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 ...
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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.
Orthotics & Prosthesis
Rouhollah Sameri Nedafi; Ali Moazemi Goudarzi; Alireza Fathi
Volume 9, Issue 3 , December 2015, , Pages 305-316
Abstract
Abstract: The statistical studies indicate that diseases, accidents and wares are the principal causes to increase the number of amputees in the world. These studies also show that the most of mutilation disabilities are related to musculoskeletal. Obesity, sedentary, lack of proper exercise as well ...
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Abstract: The statistical studies indicate that diseases, accidents and wares are the principal causes to increase the number of amputees in the world. These studies also show that the most of mutilation disabilities are related to musculoskeletal. Obesity, sedentary, lack of proper exercise as well as the risk of some diseases, cause weaken in knee muscles and other difficulties of this hand. As a consequence, the knee muscles can`t apply a mighty torque to accomplish knee motion.The objective of this study is to propose a proper solution to improve the life quality of those who suffer from weak knees. In this study, by investigating the biomechanical behavior of a healthy foot in a normal gait, the indispensable power which can enforce a 50% weak Knee to achieve the same gait can be calculated. In order to naturalize the mentioned knee, a new control-active orthosis is designed. The proposed design is specified by an electromechanical actuator and an elastic component articulated in a light weight four-bar mechanism. Its mechanical behavior is tested in a simulated walking gait and the optimum value of elastic coefficient is estimated as 7KN/m. In this case, the maximum torque applicable to knee joint has increased by 34 per cent.
Gait Analysis
Ghazaleh Soleimani; Mehran Emadi Andani; Hamid Reza Marateb; Fariba Bahrami
Volume 9, Issue 4 , February 2015, , Pages 361-374
Abstract
Walking is one of the most widely used movements affecting life quality. Therefore, the study of factors affecting human gait has always been an important issue. Walking speed, as a physical perturbation, affects the quality of human walking. The purpose of this study is to estimate the effects of walking ...
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Walking is one of the most widely used movements affecting life quality. Therefore, the study of factors affecting human gait has always been an important issue. Walking speed, as a physical perturbation, affects the quality of human walking. The purpose of this study is to estimate the effects of walking speed on the short-time gait parameters. Thirty-two healthy subjects(mean SD, age: 27.56 ± 20.4 years; body height: 158.19 ± 20.83 cm; body weight: 54.89 ± 20.59 kg;gender: 59% female)participated in this study.Kinetic, kinematic and electromyographic data were recorded at the following five walking speed categories: very slow, slow, medium, fast and very fast. The effect of speed on spatio-temporal parameters, muscle synergy space, walking smoothness, representation of joints displacement and the correlation between lower limb displacement and also correlation between muscles activation patterns were studied. Having being used physical perturbation, 46 predictors were extracted from one gait cycle information, some of which were proposed for the first time inthe literature for example size of muscle synergy, minimum angular jerk, lower limb contributions and skewness, kurtosis and curvature of joints movements . Using muscle synergies showed that increasing walking speed leads to increase the size of synergy space. It could be concluded that central nervous system tries to adopt more organaized strategy for recruiting muscles and remaining stable at fast speeds. Our results showed that, speed plays a crucial role in human gait characteristic. We can investigate our methods among more subjects and also patients with gait disorders. We can evaluate other indices like gait stability based on short-term data recording.
Rehabilitation Engineering
Nima Jamshidi; Mostafa Rostami; Siamak Najarian; Mohammad Bagher Menhaj; Mohammad Saadatnia; Firouz Salami
Volume 2, Issue 1 , June 2008, , Pages 57-64
Abstract
In this research the kinematics parameters derived from ground reaction forces were evaluated to limit the differential diagnoses and measure the degree of disabilities during the walking among neuropathic subjects. 25 neuropathic subjects affected by drop foot and 20 normal subjects were enrolled in ...
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In this research the kinematics parameters derived from ground reaction forces were evaluated to limit the differential diagnoses and measure the degree of disabilities during the walking among neuropathic subjects. 25 neuropathic subjects affected by drop foot and 20 normal subjects were enrolled in the study. There were no differences in the age, weight and height between the patients and normal subjects (p > 0.05). Each subject was tested in average 10±2 times for calculating the kinetic parameters derived from ground reaction forces. Then time parameters and vertical components of force including three extremums of vertical forces, which state various phases in gait, anterior-posterior component of ground reaction force, maximum propulsion force, maximum breaking force during loading stage, maximum propulsion force in the end phase of terminal stance, impact derived from the contact of the patient' foot with floor, loading rate and unloading of vertical forces during the contact' phase of the patient's foot with floor and center of pressure displacement in sole of foot and friction' coefficient between foot and floor were calculated. The results revealed that correlation between the first and second peaks of the anterior-posterior component of ground reaction forces, center of pressure displacement pattern in the sole of foot and time parameters of the vertical forces can be good indexes for differential diagnoses and measuring the degree of disabilities. This research can extend the clinical applications of ground reaction force plate, introduce suitable criteria to limit differential diagnoses and measure the degree of disabilities among the neuropathies. There is a need to replicate this research with more patients and normal subjects to confirm our findings.
