Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system.

Aeberhard, Martin; Michellod, Y.; Müllhaupt, Ph.; Terrier, Alexandre; Pioletti, Dominique P.; Gillet, Denis

doi:10.1109/robio.2009.4912981

Cited by 6 publications

(14 citation statements)

References 13 publications

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“…The null-space method was used both because it has shown promising results (Aeberhard et al 2009;Terrier et al 2010) and because it helped to pinpoint the nature of the unfeasibility observed in Ingram et al (2012) due to its direct use of the map (13) to construct the solution.…”

Section: Discussionmentioning

confidence: 99%

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Muscle moment-arms: a key element in muscle-force estimation

Ingram

Engelhardt

Farron

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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A clear and rigorous definition of muscle moment-arms in the context of musculoskeletal systems modelling is presented, using classical mechanics and screw theory. The definition provides an alternative to the tendon excursion method, which can lead to incorrect moment-arms if used inappropriately due to its dependency on the choice of joint coordinates. The definition of moment-arms, and the presented construction method, apply to musculoskeletal models in which the bones are modelled as rigid bodies, the joints are modelled as ideal mechanical joints and the muscles are modelled as massless, frictionless cables wrapping over the bony protrusions, approximated using geometric surfaces. In this context, the definition is independent of any coordinate choice. It is then used to solve a muscle-force estimation problem for a simple 2D conceptual model and compared with an incorrect application of the tendon excursion method. The relative errors between the two solutions vary between 0% and 100%.

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Section: Discussionmentioning

confidence: 99%

“…A detailed presentation of this re-parameterisation is given in Aeberhard et al (2009) andTerrier et al (2010).…”

Section: Null-space Optimisationmentioning

confidence: 99%

Muscle moment-arms: a key element in muscle-force estimation

Ingram

Engelhardt

Farron

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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“…The vectort a is the torques around the inertial frame axes centred at each of the three joints. The matrix W 0 ðkÞ is the generalised moment-arm matrix resulting from the projection of the moment-arms WðkÞ into the generalised coordinate space (Aeberhard et al 2009;Ingram et al 2013aIngram et al , 2013b. The projection matrix P 0 ðkÞ is defined as the partial derivative of the rotational velocity vectors with respect to the coordinate velocities (Aeberhard et al 2009).…”

Section: A Musculoskeletal Model Of the Human Shouldermentioning

confidence: 99%

Improving anterior deltoid activity in a musculoskeletal shoulder model – an analysis of the torque-feasible space at the sternoclavicular joint

Ingram

Engelhardt

Farron

et al. 2015

Computer Methods in Biomechanics and Biomedical Engineering

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Modelling the shoulder's musculature is challenging given its mechanical and geometric complexity. The use of the ideal fibre model to represent a muscle's line of action cannot always faithfully represent the mechanical effect of each muscle, leading to considerable differences between model-estimated and in vivo measured muscle activity. While the musculotendon force coordination problem has been extensively analysed in terms of the cost function, only few works have investigated the existence and sensitivity of solutions to fibre topology. The goal of this paper is to present an analysis of the solution set using the concepts of torque-feasible space (TFS) and wrench-feasible space (WFS) from cable-driven robotics. A shoulder model is presented and a simple musculo -tendon force coordination problem is defined. The ideal fibre model for representing muscles is reviewed and the TFS and WFS are defined, leading to the necessary and sufficient conditions for the existence of a solution. The shoulder model's TFS is analysed to explain the lack of anterior deltoid (DLTa) activity. Based on the analysis, a modification of the model's muscle fibre geometry is proposed. The performance with and without the modification is assessed by solving the musculo -tendon force coordination problem for quasi-static abduction in the scapular plane. After the proposed modification, the DLTa reaches 20% of activation.

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“…This approach has been applied in a variety of application fields, ranging from the analysis of gait [2] and running [3], to the study of upper limb movements [4]. For instance, different studies in the literature proposed a biomechanical model of the human shoulder complex, for quasi-static and dynamic estimation of the muscle forces and joint reaction forces in the gleno-humeral joint, combining inverse dynamics and static optimization to estimate the associated muscle forces [5][6][7]. Other studies present a conceptual 3D bipedal nonlinear model for Sit-To-Stand task with optimal controller design for exoskeleton torques [8] or a coupled optimization problem for a 2D model to solve for controller, which shows that central nervous system is able to solve the limb coordination problem when recovering from balance perturbations [9].…”

Section: Introductionmentioning

confidence: 99%

Neural Networks for Muscle Forces Prediction in Cycling

et al. 2014

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This paper documents the research towards the development of a system based on Artificial Neural Networks to predict muscle force patterns of an athlete during cycling. Two independent inverse problems must be solved for the force estimation: evaluation of the kinematic model and evaluation of the forces distribution along the limb. By solving repeatedly the two inverse problems for different subjects and conditions, a training pattern for an Artificial Neural Network was created. Then, the trained network was validated against an independent validation set, and compared to evaluate agreement between the two alternative approaches using Bland-Altman method. The obtained neural network for the different test patterns yields a normalized error well below 1% and the Bland-Altman plot shows a considerable correlation between the two methods. The new approach proposed herein allows a direct and fast computation for the inverse dynamics of a cyclist, opening the possibility of integrating such algorithm in a real time environment such as an embedded application.

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Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system.

Cited by 6 publications

References 13 publications

Muscle moment-arms: a key element in muscle-force estimation

Muscle moment-arms: a key element in muscle-force estimation

Improving anterior deltoid activity in a musculoskeletal shoulder model – an analysis of the torque-feasible space at the sternoclavicular joint

Neural Networks for Muscle Forces Prediction in Cycling

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