Development of a 3D Printed Bipedal Robot: Towards Humanoid Research Platform to Study Human Musculoskeletal Biomechanics

Wang, Kunyang; Ren, Lei; Qian, Zhihui; Liu, Jing; Geng, Tao; Ren, Luquan

doi:10.1007/s42235-021-0010-6

Cited by 9 publications

(4 citation statements)

References 63 publications

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“…In the last few decades, substantial advancements have been made in detailed musculoskeletal modeling of the human body [6][7][8][9][10][11][12], which has led to the discovery of fundamental human movement principles, advanced injury diagnosis, and informed prosthetic and robotic design [13][14][15][16][17][18][19][20][21][22][23]. OpenSim [24,25], a…”

Section: Introductionmentioning

confidence: 99%

`ArborSim`: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

Fu,

Withers,

Miyamae

et al. 2024

Preprint

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Computational models of musculoskeletal systems are essential tools for understanding how muscles, tendons, bones, and actuation signals generate motion. In particular, the OpenSim family of models has facilitated a wide range of studies on diverse human motions, clinical studies of gait, and even non-human locomotion. However, biological structures with many joints, such as fingers, necks, tails, and spines, have been a longstanding challenge to the OpenSim modeling community, especially because these structures comprise numerous bones and are frequently actuated by extrinsic muscles that span multiple joints---often more than three---and act through a complex network of branching tendons. Existing model building software, typically optimized for limb structures, makes it difficult to build OpenSim models that accurately reflect these intricacies. Here, we introduce ArborSim, customized software that efficiently creates musculoskeletal models of highly jointed structures and can build branched muscle-tendon architectures. We used ArborSim to construct toy models of articulated structures to determine which morphological features make a structure most sensitive to branching. By comparing the joint kinematics of models constructed with branched and parallel muscle-tendon units, we found that the number of tendon branches and the number of joints between branches are most sensitive to branching modeling method---notably, the differences between these models showed no predictable pattern with increased complexity. As the proportion of muscle increased, the kinematic differences between branched and parallel models units also increased. Our findings suggest that stress and strain interactions between distal tendon branches and proximal tendon and muscle greatly affect the overall kinematics of a musculoskeletal system. By incorporating complex muscle-tendon branching into OpenSim models using ArborSim, we can gain deeper insight into the interactions between the axial and appendicular skeleton, model the evolution and function of diverse animal tails, and understand the mechanics of more complex motions and tasks.

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Section: Introductionmentioning

confidence: 99%

`ArborSim`: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

Fu,

Withers,

Miyamae

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…In the last few decades, substantial advancements have been made in detailed musculoskeletal modeling of the human body [ 6 – 12 ], which has led to the discovery of fundamental human movement principles, advanced injury diagnosis, and informed prosthetic and robotic design [ 13 – 23 ]. OpenSim [ 24 , 25 ], a widely-used open-source software for musculoskeletal modeling and simulation, has been a key contributor to these advancements, fostering the sharing and dissemination of musculoskeletal models among the biomechanics community through the SimTK database.…”

Section: Introductionmentioning

confidence: 99%

ArborSim: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

Fu,

Withers,

Miyamae

et al. 2024

PLoS Comput Biol

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Computational models of musculoskeletal systems are essential tools for understanding how muscles, tendons, bones, and actuation signals generate motion. In particular, the OpenSim family of models has facilitated a wide range of studies on diverse human motions, clinical studies of gait, and even non-human locomotion. However, biological structures with many joints, such as fingers, necks, tails, and spines, have been a longstanding challenge to the OpenSim modeling community, especially because these structures comprise numerous bones and are frequently actuated by extrinsic muscles that span multiple joints—often more than three—and act through a complex network of branching tendons. Existing model building software, typically optimized for limb structures, makes it difficult to build OpenSim models that accurately reflect these intricacies. Here, we introduce ArborSim, customized software that efficiently creates musculoskeletal models of highly jointed structures and can build branched muscle-tendon architectures. We used ArborSim to construct toy models of articulated structures to determine which morphological features make a structure most sensitive to branching. By comparing the joint kinematics of models constructed with branched and parallel muscle-tendon units, we found that among various parameters—the number of tendon branches, the number of joints between branches, and the ratio of muscle fiber length to muscle tendon unit length—the number of tendon branches and the number of joints between branches are most sensitive to branching modeling method. Notably, the differences between these models showed no predictable pattern with increased complexity. As the proportion of muscle increased, the kinematic differences between branched and parallel models units also increased. Our findings suggest that stress and strain interactions between distal tendon branches and proximal tendon and muscle greatly affect the overall kinematics of a musculoskeletal system. By incorporating complex muscle-tendon branching into OpenSim models using ArborSim, we can gain deeper insight into the interactions between the axial and appendicular skeleton, model the evolution and function of diverse animal tails, and understand the mechanics of more complex motions and tasks.

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“…This requires the AJC to have flexible motion modulation and the ability to maintain joint stability [5], and for the AJC to achieve this dual role, it may heavily rely on the coordinated motion of the tibiotalar and subtalar joints. A thorough understanding of the Three-Dimensional (3D) motion of these two joints in the hindfoot can guide the diagnosis of ankle-related injuries and disorders, as well as for the design of prostheses, orthotics, and bionic robotic feet [6].…”

Section: Introductionmentioning

confidence: 99%

Intrinsic Kinematics of the Tibiotalar and Subtalar Joints during Human Walking based on Dynamic Biplanar Fluoroscopy

et al. 2023

Self Cite

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Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex (AJC) is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders, as well as an essential guide to the design of ankle–foot assistant devices. However, detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking. In this study, dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking. Natural motions with six Degrees of Freedom (DOF) and the coupled patterns of the two joints were analyzed. It was found that the movements of the two joints were mostly in opposite directions (including rotation and translation), mainly in the early and late stages. There were significant differences in the Range of Motion (ROM) in Dorsiflexion/Plantarflexion (D/P), Inversion/Eversion (In/Ev), and Anterior–Posterior (AP) and Medial–Lateral (ML) translation of the tibiotalar and subtalar joints (p < 0.05). Plantarflexion of the tibiotalar joint was coupled with eversion and posterior translation of the subtalar joint during the impact phase (R2 = 0.87 and 0.86, respectively), and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase (R2 = 0.93 and 0.75, respectively). This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.

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Development of a 3D Printed Bipedal Robot: Towards Humanoid Research Platform to Study Human Musculoskeletal Biomechanics

Cited by 9 publications

References 63 publications

`ArborSim`: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

`ArborSim`: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

ArborSim: Articulated, branching, OpenSim routing for constructing models of multi-jointed appendages with complex muscle-tendon architecture

Intrinsic Kinematics of the Tibiotalar and Subtalar Joints during Human Walking based on Dynamic Biplanar Fluoroscopy

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