Force and deformation transmission characteristics of a compliant tendon–sheath actuation system based on Hill-type muscle model

Shao, Ziyan; Wu, Qingcong; Bai, Chen; Wu, Hongtao

doi:10.1177/0954411919847052

Cited by 8 publications

(8 citation statements)

References 23 publications

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“…Parameters. e optimized model based on the HMM was used to establish human parameters [19,20], which were modeled with human parameters of 170 cm and 70 kg. e length of the thigh connecting rod was 434 mm; the distance of the single-joint muscle insertion point was 210 mm; the relative position of the iliopsoas pelvic attachment point was (26 mm, 22 mm, and 5 mm); the length of the moment arm at the joint was 28 mm, the physiological cross-sectional area of the muscle was 28.9 cm 2 ; the muscle pinna angle was 13.9 °; the relative position of the rectus femoris pelvic attachment point was (41 mm, −4 mm, and −36 mm); the length of the moment arm at the joint was 50 mm; the physiological crosssectional area was 34.8 cm 2 ; the muscle pinna angle was 12.4 °; the relative position of gluteus maximus pelvic attachment points was (−88 mm, 66 mm, and −39 mm); the moment arm length at its joint was 60 mm, the physiological cross-sectional area was 46.8 cm 2 , and the muscle pinna angle was 21.0 °; the moment arm length at the hamstring joint was 28 mm, the moment arm length at the lumbar joint was 28 mm, the physiological cross-sectional area was 73.0 cm 2 , and the muscle pinna angle was 11.3 °.…”

Section: Hill Muscle Optimization Model To Establish Data Andmentioning

confidence: 99%

Construction and Simulation of Biomechanical Model of Human Hip Joint Muscle-Tendon Assisted by Elastic External Tendon by Hill Muscle Model

Luo

Cai

et al. 2022

Computational Intelligence and Neuroscience

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Based on the Hill muscle model (HMM), a biomechanical model of human hip muscle tendon assisted by elastic external tendon (EET) was preliminarily established to investigate and analyze the biomechanical transition between the hip joint (HJ) and related muscle tendons. Using the HMM, the optimal muscle fiber length and muscle force scaling variables were introduced by means of constrained optimization problems and were optimized. The optimized HMM was constructed with human parameters of 170 cm and 70 kg. The biomechanical model simulation test of the hip muscle tendon was performed in the automatic dynamic analysis of mechanical systems (ADAMS) software to analyze and optimize the changes in the root mean square error (RMSE), biological moment, muscle moment distribution coefficient (MDC), muscle moment, muscle force, muscle power, and mechanical work of the activation curves of the hip major muscle, iliopsoas muscle, rectus femoris muscle, and hamstring muscle under analyzing the optimized HMM and under different EET auxiliary stiffnesses from the joint moment level, joint level, and muscle level, respectively. It was found that the trends of the output joint moment of the optimized HMM and the biological moment of the human HJ were basically the same, r2 = 0.883 and RMSE = 0.18 Nm/kg, and the average metabolizable energy consumption of the HJ was (243.77 ± 1.59) J. In the range of 35%∼65% of gait cycle (GC), the auxiliary moment showed a significant downward trend with the increase of EET stiffness, when the EET stiffness of the human body was less than 200 Nm/rad, the biological moment of the human HJ gradually decreased with the increase of EET stiffness, and the MDC of the iliopsoas and hamstring muscles gradually decreased; when the EET stiffness was greater than 200 Nm/rad, the increase of the total moment of the extensor muscles significantly increased, the MDC of the gluteus maximus and rectus muscles gradually increased, and the gluteus maximus and hamstring muscle moments and muscle forces gradually increased; the results show that the optimized muscle model based on Hill can reflect the law of human movement and complete the simulation test of HJ movements, which provides a new idea for the analysis of energy migration in the musculoskeletal system of the lower limb.

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Section: Hill Muscle Optimization Model To Establish Data Andmentioning

confidence: 99%

Construction and Simulation of Biomechanical Model of Human Hip Joint Muscle-Tendon Assisted by Elastic External Tendon by Hill Muscle Model

Luo

Cai

et al. 2022

Computational Intelligence and Neuroscience

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“…The artificial tendon transmission system is composed of a tendon-sheath transmission system and two additional compliant springs. Under the assumption that the system follows the rule of Hooke's law and the Coulomb friction, the force and deformation transmission relationship can be expressed using the following equations 28,29 :…”

Section: Transmission Modelmentioning

confidence: 99%

Design and transmission modeling of a soft elbow exosuit using double artificial tendon system

Shao¹,

Xi²,

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Daily life would be affected if the upper extremity is injured, especially for people with spinal cord injury, stroke and other neuromuscular disorders. In order to assist in the rehabilitation of these movement disorders, exoskeleton robots are developed. Based on the muscular length relationship and the Hill-type muscle model, a lightweight, soft exosuit is designed for elbow flexion and extension. The exosuit is composed of an actuation box and a wearing sleeve. The power is transmitted from the actuation box to the sleeve utilizing an artificial tendon transmission system. The detailed mechanism design is introduced, and the mathematical double artificial tendon transmission model is developed. Experiments and related simulations are followed to validate the model. The prototype of the soft exosuit is tested on a male subject, and the results indicate that the soft exosuit is capable and effective in helping the elbow joint with flexion and extension.

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“…A full musculoskeletal model for muscle driven simulation was included in our platform to compute internal muscle force data from patients. The model was created using an open source software called MSMS and exported to the MATLAB environment, which is based on the well known biomechanical model of Hill-Zajac [27][28][29]. In spite of this, the insertion of each bone, muscle, tendon, and ligaments was done manually by the authors.…”

Section: Kinetic Gait Modelingmentioning

confidence: 99%

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Cardona

Cena

Serrano

et al. 2020

Sensors

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Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

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Force and deformation transmission characteristics of a compliant tendon–sheath actuation system based on Hill-type muscle model

Cited by 8 publications

References 23 publications

Construction and Simulation of Biomechanical Model of Human Hip Joint Muscle-Tendon Assisted by Elastic External Tendon by Hill Muscle Model

Construction and Simulation of Biomechanical Model of Human Hip Joint Muscle-Tendon Assisted by Elastic External Tendon by Hill Muscle Model

Design and transmission modeling of a soft elbow exosuit using double artificial tendon system

ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

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