| Budget Amount *help |
¥1,300,000 (Direct Cost: ¥1,300,000)
Fiscal Year 2001: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Research Abstract |
This research focuses on the theoretical modeling of multi-bones-joints system, driven by muscle activations. At first we formulated the continuum mechanics of skeletal muscle with evolutional constitutive law. (1) Since a joint muscle activation generates some kinds of kinematics and dynamics, such as generating angular motion of link systems, for multi-bones and multi joints system, the constraint of muscle contraction due to the neervo-activation generates the counter muscles in a joint stiffness, and some others, we formulate the evolutional constitutive law of a muscle model so that, it includes independent variables for both motion and constraint force, the sum of which determine the activation generates the counter force, applicable to equilibrate to the external joint torque, a pair contraction of the counter muscles in a joint stiffness, and some others, we formulate the evolutional constitutive law of a muscle model so that, it includes independent variables for both motion a
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nd constraint force, the sum of which determine the activation level. (2) The multi-body dynamics approach for a multiple bone-joint system driven by muscle activation has been formulated. The link element coordinates are defined in each bone, and positional vectors for the center of gravity of each bone, distance between adjacent joints, muscle positional vector are formulated and transformed to the global coordinate system. (3) The kinetic energies of the elements and potential energies stored in respective muscles and joint elements are expressed in incremental forms. Based on the updated-Lagrange method, the governing equations of motion for each link, and the dynamic equilibrium equation for each joint have been formulated and solved by prescribed constraint and applied load conditions, using the developed computer simulation system.
As an actual application to the assistive technology fields of low back pain problem of thoraco-lumber spine system and pinching motion of multi-fingers hand system have been analyzed. The satisfactory concordances among them are confirmed. It is verified that the developed computer system can be satisfactorily estimate these activation dynamics of muscle, instead of traditional measuring approaches by EMG. Less
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