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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method
verfasst von : Kensho Hirasawa, Ko Ayusawa, Yoshihiko Nakamura
Erschienen in: Romansy 19 – Robot Design, Dynamics and Control
Verlag: Springer Vienna
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This paper proposes a method to estimate muscle activity with taking account the volumetric effects of muscles. We analyze muscles as elastic bodies by using finite element method combined with computation technique in robotics. We describe the way to estimate muscle force and deformation as the problem to find muscle activity which produce joint torque calculated by inverse dynamics subject to equilibrium equation of elastic bodies. This problem is solved as sequential quadratic programming with finite element analysis in parallel for each muscle.