Conference proceeding
Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization
SAE Technical Paper Series
Digital Human Modeling Conference, 2007
06/12/2007
DOI: 10.4271/2007-01-2491
Abstract
Our previous formulation for optimization-based dynamic motion simulation of a serial-link human upper body (from waist to right hand) is extended to predict the motion of a tree-structured human model that includes the torso, right arm, and left arm, with various applied external loads. The dynamics of tree-structured systems is formulated and implemented. The equations of motion for the tree structures must be derived carefully when dealing with the connection link. The optimum solution results show realistic dual-arm human motions and the required joint actuator torques.
In the second part of this paper, a new method is introduced in which the constraint forces and moments at the joints are calculated along with the motion and muscle-induced actuator torques. A set of fictitious joints are modeled in addition to the real joints. Then the constraint forces/moments for the fictitious joints are obtained from an extension of our optimization method together with zero-displacement constraints. Our formulation provides a multi-body dynamics method that does not require numerical integration and results in accurate joint constraint loads.
Details
- Title: Subtitle
- Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization
- Creators
- Joo H Kim - University of IowaKarim Abdel-MalekJingzhou Yang - University of IowaKyle J Nebel - AMSRD-TAR-NAC/157
- Resource Type
- Conference proceeding
- Conference
- Digital Human Modeling Conference, 2007
- Series
- SAE Technical Paper Series
- DOI
- 10.4271/2007-01-2491
- ISSN
- 0148-7191
- eISSN
- 2688-3627
- Language
- English
- Date published
- 06/12/2007
- Academic Unit
- Mechanical Engineering; Roy J. Carver Department of Biomedical Engineering
- Record Identifier
- 9984196555502771
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