Abstract
The analyses of human movement are interesting subjects for medicine, sport, or for bionics robots designers as well as people, who have been looking for analytical tools for many years, and one of them is the multi-body system analysis. In this paper, a short overview of different methods of analysis of multi-body systems is presented. These methods are very important and effective for analyses and designing of defined mechanical structures and their control. But during physical movement the skeleton changes its structure from close to open. The mechanical energy accumulated in skeleton’s bones and muscles are cyclically converted from kinetic to potential and vice versa. Hence, the direct usage of multi-body analyses does not appear to be effective enough. In this paper, the author presents a new modification of the multi-body system modeling method which enables dynamic analyses of changing structures. The model is a structure of stiff branches (bones) as well as flexible and rotatable nodes (joints) with the branches moving in accordance to forces and torques. The movement causes the relative displacements of two elements generating reaction forces and torques in joints. This force then flows to a particular element where it is added to others. This method was used for force and movement modeling for low lamb exoskeleton designing. In addition, the simplified model of human leg and the result of simulation are also presented in this paper.
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References
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Acknowledgments
This method was work out and model was built in reference to Polish Exoskeleton NCBIR project No DOBR/0037/R/R/ID1/2012/03 …
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Miroslaw, T. (2016). The Method of Modeling of Human Skeletons Multi-Body System. In: Awrejcewicz, J. (eds) Dynamical Systems: Modelling. DSTA 2015. Springer Proceedings in Mathematics & Statistics, vol 181. Springer, Cham. https://doi.org/10.1007/978-3-319-42402-6_22
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DOI: https://doi.org/10.1007/978-3-319-42402-6_22
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