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Modeling of human lower extremity musculo-skeletal structure using bond graph approach

Ghafari, A. S ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2007-41558
  3. Publisher: 2008
  4. Abstract:
  5. A vector bond graph approach for dynamic modeling of human musculo-skeletal system is addressed in this article. In the proposed model, human body is modeled as a ten-segment, nine degree of freedom, mechanical linkage, actuated by ten muscles in sagittal plane. The head, arm and torso (HAT) are modeled as a single rigid body. Interaction of the feet with the ground is modeled using a spring-damper unit placed under the sole of each foot. The path of each muscle is represented by a straight line. Each actuator is modeled as a three-element, Hill-type muscle in series with tendon. The governing equations of motion generated by the proposed method are equivalent to those developed with more traditional techniques. However the models can be more easily used in conjunction with control models of neuro-muscular function for the simulation of overall dynamic motor performance. In the proposed structure, segments can be easily added or removed. Such a model may have applications in clinical diagnosis and modeling of paraplegic patients during robotic-assisted walking. Copyright © 2007 by ASME
  6. Keywords:
  7. Rigid body ; Spring-dampers ; Straight line ; Clinical diagnosis ; Governing equations of motion ; Human lower extremity ; Mechanical linkages ; Musculo-skeletal structures ; Paraplegic patients ; Robotic-assisted walking ; Traditional techniques ; Actuators ; Damping ; Mathematical models ; Degrees of freedom (mechanics) ; Diagnosis ; Equations of motion ; Graph theory ; Muscle ; Walking aids ; Musculoskeletal system ; Dynamics
  8. Source: ASME International Mechanical Engineering Congress and Exposition, IMECE 2007, Seattle, WA, 11 November 2007 through 15 November 2007 ; Volume 9 PART C , 2008 , Pages 1489-1498 ; 0791843033 (ISBN); 9780791843031 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2007/43033/1489/329088