Musculoskeletal Dynamics SLate supped cal Engineerin Grant Schaffner ATA Engineering, Inc H arv ard Medical ACHU FTECHN
Musculoskeletal Dynamics Grant Schaffner ATA Engineering, Inc
What is musculoskeletal dynamics pace Biomedical Engineerin Life Support Modeling the human body and associated objects as a system of linked rigid segments Formulation of the equations of motion for this system Computational simulation of motion
What is musculoskeletal dynamics? • Modeling the human body and associated objects as a system of linked rigid segments • Formulation of the equations of motion for this system • Computational simulation of motion Z X q1 q2 q3
What is it useful for? pace Biomedical Engineerin Life Support 1. Task feasibility Range of motion studies Strength requirements (joint torques) 2. Joint forces(skeletal loading) 3. Spacesuit design(modeling suit mechanics) 4 Countermeasure evaluation 5. Understanding complex dynamics EVA tasks, e.g., Satellite capture, mass manipulation(ISS assembly /ORU replacement Artificial / reduced gravity C Video*)
What is it useful for? 1. Task feasibility • Range of motion studies • Strength requirements (joint torques) 2. Joint forces (skeletal loading) 3. Spacesuit design (modeling suit mechanics) 4. Countermeasure evaluation 5. Understanding complex dynamics • EVA tasks, e.g., Satellite capture, mass manipulation (ISS assembly / ORU replacement) • Artificial / reduced gravity (* Video *)
EVA Mass Manipulation Simulation pace Biomedical Engineerin Life Support Joint Angle Joint Torque 10 -60 -30 10 Time [sec Time [sec 30 20 10 -30 121620 8121620 Time [sec Time [sec
EVA Mass Manipulation Simulation 0 2 46 8 1 0 -80 -60 -40 -20 0 2 0 4 0 0 2 4 6 8 10 -30 -20 -10 0 1 0 2 0 3 0 0 4 8 12 20 -80 -60 -40 -20 0 2 0 4 0 0 4 8 12 16 20 -30 -20 -10 0 1 0 2 0 3 0 Joint Angle Joint Torque Time [sec] Time [sec] Time [sec] Time [sec] 1 6
Satellite Capture Simulation pace Biomedical Engineerin Life Support 0.20 1.50 X-trans Y-trans Z-trans 1.00 0.15 RolX Pitch(z) 0.10 0.05 0E235 1.00 Time(s)
Satellite Capture Simulation -0.05 0.00 0.05 0.10 0.15 0.20 02 5 8 Time (s) Linear D isplacement ( m) -1.50 -1.00 -0.50 0.00 0.50 1.00 1.50 Angular Displacement ( deg) X-trans Y-trans Z-trans Roll(X) Yaw(Y) Pitch(Z) Y X Z 1 4 3 7 6 9