Search results for "Inverse dynamics"
showing 10 items of 11 documents
Compensation of Nonlinear Torsion in Flexible Joint Robots: Comparison of Two Approaches
2015
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of tracking and positioning of the robotic links. In this paper, two approaches for compensating the nonlinear joint torsion with hysteresis are described and compared with each other. Both methods assume the measured signals available only on the motor side of joint transmissions. The first approach assumes a rigid-link manipulator model and transforms the desired link trajectory into that of the motor drives by using the inverse dynamics and inverse hysteresis…
Modeling of Human Posturokinetic Movements by a Linear Feedback System: Relations among Feedback Coefficients
2002
This study describes a method of modeling human trunk and whole body backward bending and suggests a possible neural control strategy. The hypothesis was that the control system can be modeled as a linear feedback system, in which the torque acting at a given joint is a function of the state variables (angular positions and angular velocities). The linear system enabled representation of the feedback system by a gain matrix. The matrix was computed from the kinematics recorded by a movement analysis system and from the joint torques calculated by inverse dynamics. To validate the control model, a comparison was made between the angular kinematics yielded by the model and the experimental d…
Flexible multibody simulation approach in the analysis of tibial strain during walking.
2007
Strains within the bone tissue play a major role in bone (re)modeling. These small strains can be assessed using experimental strain gage measurements, which are challenging and invasive. Further, the strain measurements are, in practise, limited to certain regions of superficial bones only, such as the anterior surface of the tibia. In this study, tibial strains occurring during walking were estimated using a numerical approach based on flexible multibody dynamics. In the introduced approach, a lower body musculoskeletal model was developed by employing motion capture data obtained from walking at a constant velocity. The motion capture data were used in inverse dynamics simulation to teac…
A comparison of the triceps surae and residual muscle moments at the ankle during cycling.
1991
The rigid linked system model and principles of inverse dynamics have been widely used to calculate residual muscle moments during various activities. EMG driven models and optimization algorithms have also been presented in the literature in efforts to estimate skeletal muscle forces and evaluate their possible contribution to the residual muscle moment. Additionally, skeletal muscle-tendon forces have been measured, directly, in both animals and humans. The purpose of this investigation was to calculate the moment produced by the triceps surae muscles and compare it to the residual muscle moment at the ankle during cycling at three power outputs (90, 180 and 270 W). Inferences were made r…
A full body musculoskeletal model based on flexible multibody simulation approach utilised in bone strain analysis during human locomotion
2011
Load-induced strains applied to bone can stimulate its development and adaptation. In order to quantify the incident strains within the skeleton, in vivo implementation of strain gauges on the surfaces of bone is typically used. However, in vivo strain measurements require invasive methodology that is challenging and limited to certain regions of superficial bones only such as the anterior surface of the tibia. Based on our previous study [Al Nazer et al. (2008) J Biomech. 41:1036-1043], an alternative numerical approach to analyse in vivo strains based on the flexible multibody simulation approach was proposed. The purpose of this study was to extend the idea of using the flexible multibod…
A heuristic model-based approach for compensating wind effects in ski jumping.
2021
Wind influences the jump length in ski jumping, which raises questions about the fairness. To counteract the wind problem, the International Ski Federation has introduced a wind compensation system in 2009: time-averaged wind velocity components tangential to the landing slope are obtained from several sites along the landing slope, and these data are used in a linear statistical model for estimating the jump length effect of wind. This is considered in the total score of the ski jump. However, it has been shown that the jump length effect estimates can be inaccurate and misleading. The present manuscript introduces an alternative mathematical wind compensation approach that is based on an …
static optimal estimation of joint accelerations for inverse dynamics problem solution
2002
In inverse dynamics computations, the accuracy of the solution strongly depends on the accuracy of the input data. In particular, estimated joint moments are highly sensitive to uncertainties in acceleration data. The aim of the present work was to improve classical inverse dynamics computations by providing an accurate estimation of accelerations. Accelerations are usually calculated from noise-polluted position data using numerical double differentiation, which amplifies measurement noise. The objective of the present paper is to use all available imperfect position and force measurements to extract optimum acceleration estimations. A weighted least-squares optimisation approach is used t…
Integration of Gravitational Torques in Cerebellar Pathways Allows for the Dynamic Inverse Computation of Vertical Pointing Movements of a Robot Arm
2008
BackgroundSeveral authors suggested that gravitational forces are centrally represented in the brain for planning, control and sensorimotor predictions of movements. Furthermore, some studies proposed that the cerebellum computes the inverse dynamics (internal inverse model) whereas others suggested that it computes sensorimotor predictions (internal forward model).Methodology/principal findingsThis study proposes a model of cerebellar pathways deduced from both biological and physical constraints. The model learns the dynamic inverse computation of the effect of gravitational torques from its sensorimotor predictions without calculating an explicit inverse computation. By using supervised …
Knee joint loading in the open and square stance tennis forehands
2013
Sandamas, Paul 2013. Knee joint loading in the open and square stance tennis forehands. Department of Biology of Physical Activity, University of Jyväskylä. Master's Thesis in Biomechanics. 80 pages. The aim of this study was to calculate and compare the resultant forces and moments in the knee joint of the open and square stance tennis forehands. An additional aim was to incorporate the ground reaction forces to shed light on the role of the lower body in aiding pelvic rotation in these two different forehands. The two types of forehand strokes hit by 7 right-handed university team level tennis players were filmed and the ground reaction forces on each foot were measured simultaneously. A …
Walking and Running Require Greater Effort from the Ankle than the Knee Extensor Muscles.
2016
The knee and ankle extensors as human primary antigravity muscle groups are of utmost importance in a wide range of locomotor activities. Yet, we know surprisingly little about how these muscle groups work, and specifically, how close to their maximal capacities they function across different modes and intensity of locomotion. Therefore, to advance our understanding of locomotor constraints, we determined and compared relative operating efforts of the knee and ankle extensors during walking, running, and sprinting.Using an inverse dynamics biomechanical analysis, the muscle forces of the knee and ankle extensors during walking (1.6 m·s), running (4.1 m·s), and sprinting (9.3 m·s) were quant…