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hemakssoud35
01-07-2009, 03:16 AM
Dear Biomch-L, I posted a message about the difference betweeen Segment moments and joint moments in the dynamic model. Thanks to all, who responded and taken their interest. Following the responses of the question by "Jasper Yen, Georgia Institute of Technology ".



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Segment moments are not the same as joint moments. Segment moments are the sum of the joint moments associated with the joints on both sides of the segment. For example,

foot segment moment = ankle joint moment + 0
(0 because there's negligible moment produced by muscles spanning the toe or metatarsophalangeal joint)
shank segment moment = knee joint moment + (-1)*ankle joint moment
thigh segment moment = hip joint moment + (-1)*knee joint moment

Segment moments are usually found when the angles in the equations of motion are angles of the segments with respect to horizontal or vertical. Joint moments are usually found when the angles in the equations of motion are joint angles (angle between two adjacent segments).

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Hassan El Makssoud,

Ph.D. Automatics & Robotics,

Electrical Engineer,



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