SUMMARYA new methodology is introduced in this work to simulate normal walking using a spatial digital human model. The proposed methodology is based on an optimization formulation that minimizes the dynamic effort of people during walking while considering associated physical and kinematical constraints. Normal walking is formulated as a symmetric and cyclic motion. Recursive Lagrangian dynamics with analytical gradients for all the constraints and objective function are incorporated in the optimization process. Dynamic balance of the model is enforced by direct use of the equations of motion. In addition, the ground reaction forces are calculated using a new algorithm that enforces overall equilibrium of the human skeletal model. External loads on the human body, such as backpacks, are also included in the formulation. Simulation results with the present methodology show good correlation with the experimental data obtained from human subjects and the existing literature.
Recognizing the importance of both the torque-angle and torque-velocity relations, three-dimensional (3D) human strength capabilities (i.e., peak torque as a function of both joint angle and movement velocity) have been increasingly reported. It is not clear, however, the degree to which these surfaces vary between joints, particularly between joints with similar biomechanical configurations. Thus, our goal was to compare 3D strength surfaces between the muscles about the elbow and knee hinge joints in men and women. Peak isometric and isokinetic strength was assessed in 54 participants (30 men) using the Biodex System 3 isokinetic dynamometer. Normalized peak torque surfaces varied significantly between flexion and extension (within each joint) and between joints; however, the normalized 3D torque surfaces did not differ between men and women. These findings suggest the underlying joint biomechanics are the primary influences on these strength surface profiles. Therefore, in applications such as digital human modeling, torque-velocity-angle relationships for each joint and torque direction must be uniquely represented to most accurately estimate human strength capability.
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