Abstract
This paper proposes a method to estimate muscle activity with taking account the volumetric effects of muscles. We analyze muscles as elastic bodies by using finite element method combined with computation technique in robotics. We describe the way to estimate muscle force and deformation as the problem to find muscle activity which produce joint torque calculated by inverse dynamics subject to equilibrium equation of elastic bodies. This problem is solved as sequential quadratic programming with finite element analysis in parallel for each muscle.
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Hirasawa, K., Ayusawa, K., Nakamura, Y. (2013). Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_41
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_41
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
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