Publicação
Development and implementation of a biomechanical multibody model for human motion analysis
| Resumo: | The present Master’s dissertation is comprised in the field of Biomechanics of Human Motion and its main purpose is to develop and implement a two-dimensional computational multibody model on the MATLAB software, to analyze the dynamic behavior of the human body and its interaction with the surrounding environment. A multibody model of the right side of the human body is developed, with the objective of performing a dynamic analysis of the human gait, in which kinematic and kinetic data are prescribed, and all degrees-of-freedom are guided. The developed model is described under the multibody systems formulation, using cartesian coordinates, and the trajectories of the bodies that guide the biomechanical model, as well as the external applied forces were obtained from experimental data acquisition. The contact modeling is, then, considered for the foot-ground interface, and two application examples are described and discussed. The first application example concerns a simulation of a simple leg motion, generated by the action of the gravitational force, and aims to validate the methodologies of contact geometry definition and contact detection. The second application example is presented for studying the foot-ground contact in human gait. This interaction is geometrically defined by circles positioned at specific locations on the foot plantar surface, and a plane, describing the ground. The contact is detected based on the relative interpenetration of the surfaces, and appropriate constitutive laws associated with the normal and tangential forces developed during the contact are applied. After a manual parameter adjustment method, an optimization process is implemented to obtain the most suitable values for the geometric and contact parameters of the proposed model. Finally, the results obtained from computational and experimental analysis are compared, with the aim of validating the proposed approach. The final foot-ground contact model presents good overall results for the vertical and tangential contact forces and for the center-of-pressure position. |
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| Autores principais: | Saraiva, Maria Leonor de Barros |
| Assunto: | Biomechanics Human gait Multibody systems formulation Dynamic analysis Foot-Ground contact model Biomecânica Marcha humana Formulação de sistemas multicorpo Análise dinâmica Modelo de contacto pé-solo Engenharia e Tecnologia::Engenharia Médica |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | The present Master’s dissertation is comprised in the field of Biomechanics of Human Motion and its main purpose is to develop and implement a two-dimensional computational multibody model on the MATLAB software, to analyze the dynamic behavior of the human body and its interaction with the surrounding environment. A multibody model of the right side of the human body is developed, with the objective of performing a dynamic analysis of the human gait, in which kinematic and kinetic data are prescribed, and all degrees-of-freedom are guided. The developed model is described under the multibody systems formulation, using cartesian coordinates, and the trajectories of the bodies that guide the biomechanical model, as well as the external applied forces were obtained from experimental data acquisition. The contact modeling is, then, considered for the foot-ground interface, and two application examples are described and discussed. The first application example concerns a simulation of a simple leg motion, generated by the action of the gravitational force, and aims to validate the methodologies of contact geometry definition and contact detection. The second application example is presented for studying the foot-ground contact in human gait. This interaction is geometrically defined by circles positioned at specific locations on the foot plantar surface, and a plane, describing the ground. The contact is detected based on the relative interpenetration of the surfaces, and appropriate constitutive laws associated with the normal and tangential forces developed during the contact are applied. After a manual parameter adjustment method, an optimization process is implemented to obtain the most suitable values for the geometric and contact parameters of the proposed model. Finally, the results obtained from computational and experimental analysis are compared, with the aim of validating the proposed approach. The final foot-ground contact model presents good overall results for the vertical and tangential contact forces and for the center-of-pressure position. |
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