Simulink Model of Human’s Elbow Neuromuscular System Tian Bo
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Transcript of Simulink Model of Human’s Elbow Neuromuscular System Tian Bo
Simulink Model of Human’s Elbow Neuromuscular System
Tian Bo
Simulink Model of Human’s Elbow Neuromuscular System
The joint torque which sets human elbow into motion is generated by a separate group of muscles provided for the joint. As the activation of each muscle is determined by a neural input, a neuromuscular system controlling all muscles has to be considered in order to understand human movements. So we should firstly understand the Mechanism of the elbow movement.
What is Elbow Neuromuscular System?
Simulink Model of Human’s Elbow Neuromuscular System
The goal and assumed data
GOALThe goal is to investigate the effects of muscle strength on the relative contributions of four muscles to dynamic elbow motion.
ASSUMED DATAIn order to sample the model, we make some assumed data:1. Elbow moves in a 2-D path.2. There are two muscle in arm, each one’s
origin of force is in the middle of arm.3. Acceleration of gravity G is 9.8067 .4. The drag torque is only happened in
elbow.
What is Elbow Neuromuscular System?
Recommend three books in this area:
<< Introduction to Sports Biomechanics >>---By Roger Bartlett, E & FN Spon in 1997
<<Sports Biomechanics Reducing Injury and Improving Performance >>
---By Roger Bartlett, E & FN Spon in 1999<<Sports Biomechanics The Basics: Optimising Human Performance>>
--- By Anthony Blazevich, A&C Black in 2007
Simulink Model of Human’s Elbow Neuromuscular System
Simulink Model of Human’s Elbow Neuromuscular System
Mechanism of the elbow movement
Basic theory
Kinematical equation
second-order
linear time invariant
differential equation methods
Newton's laws of motion
Dynamical equation
Newton's laws of motion
NomenclatureSimulink Model of Human’s Elbow Neuromuscular System
:Vector from origin to wrist
:Vector from origin to elbow
:Vector from elbow to wrist
:Shoulder joint angle
:Elbow joint angle
:Lengh from origin to elbow
:Lengh from elbow to wrist
:Shoulder joint velocity vector
:Elbow joint velocity vector
: Shoulder joint acceleration vector
: Elbow joint acceleration vector
: C1 Centrobaric acceleration vector in X : C1 Centrobaric acceleration vector in Y : C2 Centrobaric acceleration vector in X : C2 Centrobaric acceleration vector in Y
Simulink Model of Human’s Elbow Neuromuscular System
Kinematical equation model
Simulink Model of Human’s Elbow Neuromuscular System
scalar equation
derivation operation
corresponding to X and Y
derivation operation
Kinematical equation
Simulink Model of Human’s Elbow Neuromuscular System
Suppose if the center of gravity is in the middle of forearm, then obtained following equation
Kinematical equation
Simulink Model of Human’s Elbow Neuromuscular System
Dynamical equation
Simulink Model of Human’s Elbow Neuromuscular System
Dynamical equation
Forearm &1
Simulink Model of Human’s Elbow Neuromuscular System
Dynamical equation
Forearm &2
Simulink Model of Human’s Elbow Neuromuscular System
Dynamical equation
Actual load
Simulink Model of Human’s Elbow Neuromuscular System
Simultaneous
matrix from the 6 dynamical equations and 8 kinematical equations
Simulink® is an environment for multidomain simulation and Model-Based Design for dynamic and embedded systems. It provides an interactive graphical environment and a customizable set of block libraries that let you design, simulate, implement, and test a variety of time-varying systems, including communications, controls, signal processing, video processing, and image processing.
--- www.mathworks.com
What is Simulink?Simulink Model of Human’s Elbow Neuromuscular System
Solving matrix equation by calling matlabSimulink Model of Human’s Elbow Neuromuscular System
Code in function mdlOutputs % Rectangular array declarations
% A rectangular array
Solving matrix equation by calling matlabSimulink Model of Human’s Elbow Neuromuscular System
Code in function mdlOutputs % B rectangular array
Solving matrix equation by calling matlabSimulink Model of Human’s Elbow Neuromuscular System
Code in function mdlOutputs
% solve the equations fff=inv(a)*b; %output the result outfff(1)=fff(1); outfff(2)=fff(2); outfff(3)=fff(7); outfff(4)=fff(8); outfff(5)=error; sys=outfff;
Add this function to a s-function model (sfuntmp1. m ).
Simulink model: s-functionSimulink Model of Human’s Elbow Neuromuscular System
mdlInitializeSizes : Specify the number of inputs, outputs, states, parameters, and other characteristics of the S-function;
mdlDerivatives : Compute the S-function's derivatives ;
mdlUpdate : Update a block's states ;
mdlOutputs : Compute the signals that this block emits;
mdlGetTimeOfNextVarHit : Initialize the state vectors of this S-function ;
mdlTerminate : Perform any actions required at termination of the simulation;
Simulink modelSimulink Model of Human’s Elbow Neuromuscular System
OutputSimulink Model of Human’s Elbow Neuromuscular System
Next stepSimulink Model of Human’s Elbow Neuromuscular System
1. This system is just a sample of elbow system, it’s far away from the truly world.And need to rebuild the model and add more parameter into the system.
2. Need to limit the elbow moving angle in next step.
3. Actually do the real model neuromuscular system.
ReferencesSimulink Model of Human’s Elbow Neuromuscular System
[1] Timotej Kodek, Marko Munih, An analysis of static and dynamic joint torquesin elbow flexion-extension movements, Simulation Modelling Practice and Theory 11 (2003) 297–311[2] Tadashi Kashima, Yoshihisa Isurugi, Masasuke Shima, An optimal control model of a neuromuscular system in human arm movements and its control characteristics, Artif Life Robotics (2002) 6:205-209[3] AME Project #1 test, A university’s class project[4] Vague, 单关节平面机器人动力学仿真[5] Sybert Stroeve, Neuromuscular control model of the arm including feedbackand feedforward components, Acta Psychologica 100 (1998) 117±131[6] Tsukasa Kanchiku, James V. Lynskey, Neuromuscular electrical stimulation induced forelimb movement in a rodent model, Journal of Neuroscience Methods 167 (2008) 317–326[7] N. Lan and T. Murakata, A REALISTIC HUMAN ELBOW MODEL FOR DYNAMIC SIMULATION, Dept. of Biomedical Engineering, University of Southern California
ReferencesSimulink Model of Human’s Elbow Neuromuscular System
[8] Roger Bartlett, Introduction to Sports Biomechanics, E & FN Spon in 1997[9] 姚俊 , 马松辉 , Simulink 建模与仿真 , 西安电子科技大学出版社 2004[10] Patrick J. Schimoler, DESIGN OF A CONTROL SYSTEM FOR AN ELBOW JOINT MOTION SIMULATOR , University of Pittsburgh, 2005 [11] 李良标 , 运动生物力学 , 北京体育学院出版社 1991