| Title: | GS4-3 An Integration of Contact Force Models with Multibody Dynamics Analyses for Human Joint Mechanisms and Effects of Viscoelastic Ground Contact |
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| Publication: | ICAROB2024 |
| Volume: | 29 |
| Pages: | 994-998 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2024.GS4-3 |
| Author(s): | Shintaro Kasai, Dondogjamts Batbaatar, Hiroaki Wagatsuma |
| Publication Date: | February 22, 2024 |
| Keywords: | Multibody dynamics (MBD), Contact force model, Absolute nodal coordinate formula (ANCF), human biomechanics |
| Abstract: | In human movement and rehabilitation analyses, human joint dynamics is a key to consider the incorporation of spring-damper components, flexible bodies and contact forces analytically. In the present study, an analytical method for human gaits were introduced to integrate those essential elements, and viscoelastic properties of musculoskeletal system were modeled with the absolute nodal coordination formula (ANCF) method representing flexible body motions. A contact force model simulates interactions between different body segments and the environment. The proposed system is applied to a slider crank mechanism, demonstrating its capabilities in human joint motion analysis using integrated dynamic model within the framework of multibody dynamics (MBD), which realizes dynamic/inverse dynamics for human biomechanics. |
| PDF File: | https://alife-robotics.co.jp/members2024/icarob/data/html/data/GS/GS4-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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