Panagiotis Artemiadis

09-12-2004, 06:23 PM

Dear Sirs,

I am working on my PhD on the Control System Laboratory

of the Mechanical Engineering Department of the National

Technical Universoty of Athens, Greece.

I am working on a dynamic model of the

human forearm-arm, concerning the flexion-extension of

the elbow joint.

As I have seen on a paper I should include passive moment

for the elbow joint, which is calculated by the following

formula:

M(q) = Ko*q + bo*q_dot + k1*(exp(K2*q) -1)

where q = angle of joint

q_dot = velocity (=dq/dt)

I wonder if it is critical to be added, and where

can I fing those parameters: Ko, K1, K2, bo

This formula is presented in the following paper:

Winters, J. M. and Stark, L. (1985) Analysis of fundamental human movements patterns

through the use of in-depth antagonistic muscle models. IEEE Trans. biomed. Engng 32,

826-839.

I would be very gratefull if anyone can send me this paper

in pdf format, or advice me of this passive moment, and the

significance of its existance in a dynamic model.

The equation of the model that I have already developed is just

the following, without any friction parts:

(I+m*d^2)*q_ddot + m*g*d*cos(q) = M

where I : moment of inertia with respect to elbow joint

d : the distance between the joint and the center of mass

of the forearm+hand

q : the angle of joint

q_ddot : second derivative of angle q

m : mass of forearm+hand

g : gravity

M : torque produced by the muscle force

Thank you in advance for your replies,

Panagiotis Artemiadis

*****************************************

Panagiotis K. Artemiadis

PhD Candidate

Control Systems Laboratory

Mechanical Eng. Dept

National Technical University of Athens

9 Heroon Polytechniou Str.,

Zografou Athens 15700, Greece

Phone : ++30 - 210 - 7723656

http://users.ntua.gr/partem/

*****************************************

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I am working on my PhD on the Control System Laboratory

of the Mechanical Engineering Department of the National

Technical Universoty of Athens, Greece.

I am working on a dynamic model of the

human forearm-arm, concerning the flexion-extension of

the elbow joint.

As I have seen on a paper I should include passive moment

for the elbow joint, which is calculated by the following

formula:

M(q) = Ko*q + bo*q_dot + k1*(exp(K2*q) -1)

where q = angle of joint

q_dot = velocity (=dq/dt)

I wonder if it is critical to be added, and where

can I fing those parameters: Ko, K1, K2, bo

This formula is presented in the following paper:

Winters, J. M. and Stark, L. (1985) Analysis of fundamental human movements patterns

through the use of in-depth antagonistic muscle models. IEEE Trans. biomed. Engng 32,

826-839.

I would be very gratefull if anyone can send me this paper

in pdf format, or advice me of this passive moment, and the

significance of its existance in a dynamic model.

The equation of the model that I have already developed is just

the following, without any friction parts:

(I+m*d^2)*q_ddot + m*g*d*cos(q) = M

where I : moment of inertia with respect to elbow joint

d : the distance between the joint and the center of mass

of the forearm+hand

q : the angle of joint

q_ddot : second derivative of angle q

m : mass of forearm+hand

g : gravity

M : torque produced by the muscle force

Thank you in advance for your replies,

Panagiotis Artemiadis

*****************************************

Panagiotis K. Artemiadis

PhD Candidate

Control Systems Laboratory

Mechanical Eng. Dept

National Technical University of Athens

9 Heroon Polytechniou Str.,

Zografou Athens 15700, Greece

Phone : ++30 - 210 - 7723656

http://users.ntua.gr/partem/

*****************************************

-----------------------------------------------------------------

To unsubscribe send SIGNOFF BIOMCH-L to LISTSERV@nic.surfnet.nl

For information and archives: http://isb.ri.ccf.org/biomch-l

Please consider posting your message to the Biomch-L Web-based

Discussion Forum: http://movement-analysis.com/biomch_l

-----------------------------------------------------------------