Subject-specific lower extremity modeling: personalization of musculoskeletal models using medical imaging and functional measurements

Carbone, Vincenzo

doi:10.3990/1.9789036541039

Cited by 1 publication

(2 citation statements)

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“…Despite the fact that the nonlinear nature of MAP is widely ignored in robotics, it is fairly studied in biomechanics for the following reasons: (a) understanding the contribution of muscles in movements [23,24], (b) for constructing the musculoskeletal model [25][26][27], and (c) subject-specific personalization and sensitivity of musculoskeletal models [28,29]. Since the moment arm values are geometric parameters of the human anatomy, they are treated as predefined anatomical constraints in biomechanics which eliminates the interest to study them as the design parameters of the leg morphology.…”

Section: Related Workmentioning

confidence: 99%

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Design of the musculoskeletal leg $\rm C \tiny{\rm ARL}$ based on the physiology of mono-articular and biarticular muscles in the human leg

et al. 2019

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In a lower extremity musculoskeletal leg, the actuation kinematics define the interaction of the actuators with each other and the environment. Design of such a kinematic chain is challenging due to the existence of the redundant biarticular actuators which simultaneously act on two joints, generating a parallel mechanism. Actuator kinematics is mainly dependent on the moment arm profile of the actuation system. It is a common practice to select a constant moment arm value for robotic actuation system; nevertheless, biological muscles feature a distinctive nonlinear moment arm profile that has been ignored in the design of the musculoskeletal robots. In this paper, we propose a design paradigm for compliant robotic leg Carl based on the direct replication of the human leg anatomy. The resulting mechanical system should (a) demonstrate a similar moment arm profile as in leg musculature, (b) exhibit expected physiological behavior of the muscles, (c) provide insight into the interaction of the actuators and possible improvement in the efficiency of the movements. We provide a comprehensive analysis of the moment arm profile of the leg musculature. The actuator kinematics of the designed leg is validated by comparing the contraction velocities of the muscles and actuators. The biological characteristics of the actuators are analyzed using the jump experiment data conducted on the previous version of the leg. The major physiological characteristics of the biarticular muscles, ligamentous action, and distal power transfer, is successfully demonstrated by the robotic leg. Our analysis demonstrates that the proposed structural design of the actuation system can improve the mechanical efficiency of this particular jump experiment up to 16% compared to the leg without actuator redundancy. Compared to the previous version of the leg, by only modifying the moment arm profiles, we can achieve an efficiency improvement of approximately 5%.

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Section: Related Workmentioning

confidence: 99%

“…The hip is modeled as a ball-socket joint where knee and ankle joints are defined as hinge joints with fixed rotation center and axis. The personalization of the model using medical imaging is proposed in [28]. This dataset is also validated versus the range of the moment arm values reported in the literature.…”

Section: Biological and Experimental Datasetsmentioning

confidence: 99%