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Structure preserving simulation of muscle actuated movements
Author(s) -
Maas Ramona,
Siebert Tobias,
Leyendecker Sigrid
Publication year - 2011
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201110042
Subject(s) - movement (music) , computer science , matlab , simple (philosophy) , simulation , control theory (sociology) , physics , artificial intelligence , acoustics , philosophy , control (management) , epistemology , operating system
Biomechanical simulation of human locomotion is commonly done via dynamical simulations of multibody systems. The actuation of the system is thereby often represented via muscle models that create a force depending on muscle length and activation level. We show a comparison of such a simulation using a structure preserving integration framework to MATLAB/Simulink results. The conclusion is that structure preservation is important to represent such systems correctly, in particular concerning energy and angular momentum evolutions. We introduce a method for structure preserving simulation of muscle actuated movements. Additionally we show examples of a simple arm movement including only one muscle as well as a finger movement including up to six muscles as an example for more complex biomechanical systems. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)