Measurements of blade forces are made using a load cell mounted between the blade and shaft of a modified paddle. All six force components and moments are measured simultaneously to give a full picture of blade hydrodynamic forces as the centre of pressure on the blade varies throughout the stroke. Blade orientation was also measured using inertial measurement units, one on the blade shaft, and the other on the canoe giving the relative position of blade with respect to the boat, as well as boat speed, acceleration and motion. Testing of the instrumented paddle was undertaken by one of the authors, an ex-national team athlete. The measured forces (and propulsive/vertical forces) are analyzed in detail through the stroke and as stroke averages. Various measures of propulsive efficiency are proposed using either the input force and propulsive force, or using input force and boat speed, and can be used for stroke analysis, or as training tools/targets.
A fully coupled model of an athlete’s muscular force output combined with a load resistance is developed and investigated in context of ergometer rowing. The athlete force is based on a simple Hill equation hyperbolic-in-speed, and parabolic-in-length model. Coupling this force function with the dynamics of the ergometer load and inertia and athlete’s own body mass inertia produces a trajectory of the resultant motion in force-speed-length space. The coupled equations were solved using a first order time-marching procedure, and iteratively calculated starting conditions based on ergometer spin-down during the recovery period between strokes. The results agree well with experimental measurements available from Kleshnev particularly given the relatively simple, and untuned, athlete force model used. Changing the load resistance changed the trajectory of the stroke, with qualitative agreement with the expected outcomes.
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