Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization

Joo Hyun Kim, Karim Abdel-Malek, Jingzhou Yang, Kyle J. Nebel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Our previous formulation for optimization-based dynamic motion simulation of a serial-link human upper body (from waist to right hand) is extended to predict the motion of a tree-structured human model that includes the torso, right arm, and left arm, with various applied external loads. The dynamics of tree-structured systems is formulated and implemented. The equations of motion for the tree structures must be derived carefully when dealing with the connection link. The optimum solution results show realistic dual-arm human motions and the required joint actuator torques. In the second part of this paper, a new method is introduced in which the constraint forces and moments at the joints are calculated along with the motion and muscle-induced actuator torques. A set of fictitious joints are modeled in addition to the real joints. Then the constraint forces/moments for the fictitious joints are obtained from an extension of our optimization method together with zero-displacement constraints. Our formulation provides a multi-body dynamics method that does not require numerical integration and results in accurate joint constraint loads.

Original languageEnglish (US)
Title of host publicationDigital Human Modeling for Design and Engineering Conference and Exhibition
DOIs
StatePublished - 2007
EventDigital Human Modeling for Design and Engineering Conference and Exhibition - Seattle, WA, United States
Duration: Jun 12 2007Jun 14 2007

Other

OtherDigital Human Modeling for Design and Engineering Conference and Exhibition
CountryUnited States
CitySeattle, WA
Period6/12/076/14/07

Fingerprint

Actuators
Torque
Equations of motion
Muscle

Keywords

  • differential-algebraic equations of motion
  • fictitious joints
  • joint constraint forces and moments
  • multi-body dynamics
  • optimization
  • Tree structure

ASJC Scopus subject areas

  • Automotive Engineering
  • Safety, Risk, Reliability and Quality
  • Pollution
  • Industrial and Manufacturing Engineering

Cite this

Kim, J. H., Abdel-Malek, K., Yang, J., & Nebel, K. J. (2007). Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization. In Digital Human Modeling for Design and Engineering Conference and Exhibition https://doi.org/10.4271/2007-01-2491

Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization. / Kim, Joo Hyun; Abdel-Malek, Karim; Yang, Jingzhou; Nebel, Kyle J.

Digital Human Modeling for Design and Engineering Conference and Exhibition. 2007.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kim, JH, Abdel-Malek, K, Yang, J & Nebel, KJ 2007, Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization. in Digital Human Modeling for Design and Engineering Conference and Exhibition. Digital Human Modeling for Design and Engineering Conference and Exhibition, Seattle, WA, United States, 6/12/07. https://doi.org/10.4271/2007-01-2491
Kim JH, Abdel-Malek K, Yang J, Nebel KJ. Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization. In Digital Human Modeling for Design and Engineering Conference and Exhibition. 2007 https://doi.org/10.4271/2007-01-2491
Kim, Joo Hyun ; Abdel-Malek, Karim ; Yang, Jingzhou ; Nebel, Kyle J. / Dual-arm dynamic motion simulation and prediction of joint constraint loads using optimization. Digital Human Modeling for Design and Engineering Conference and Exhibition. 2007.
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