Calculation of a force effect from muscle action to a quaternion-based musculoskeletal model

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F25%3A00384994" target="_blank" >RIV/68407700:21220/25:00384994 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1016/j.jbiomech.2025.112904" target="_blank" >https://doi.org/10.1016/j.jbiomech.2025.112904</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.jbiomech.2025.112904" target="_blank" >10.1016/j.jbiomech.2025.112904</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Calculation of a force effect from muscle action to a quaternion-based musculoskeletal model

Popis výsledku v původním jazyce

Euler and Cardan angles representation in biomechanical analysis allows straightforward description of joint rotations. However, application of Euler or Cardan angles can be problematic due to a singularity called gimbal lock. Quaternions offer an alternative way to describe rotation that avoids this problem, but they are not commonly used in biomechanics as they are complex and not inherently intuitive, specifically in dynamic models actuated by muscles. This study introduces a mathematical framework for describing muscle actions in dynamic quaternion-based musculoskeletal simulations. The proposed method estimates muscle torques in a quaternion-based musculoskeletal model. Its application is shown in a three-dimensional double-pendulum system actuated by muscle elements. Furthermore, the transformation of muscle moment arms obtained from muscle paths based on Euler or Cardan angles into a quaternion-based description is presented. The proposed method is advantageous for dynamic modeling of musculoskeletal models with complex kinematics and joints with large ranges of motion like the shoulder joint.

Název v anglickém jazyce

Calculation of a force effect from muscle action to a quaternion-based musculoskeletal model

Popis výsledku anglicky

Euler and Cardan angles representation in biomechanical analysis allows straightforward description of joint rotations. However, application of Euler or Cardan angles can be problematic due to a singularity called gimbal lock. Quaternions offer an alternative way to describe rotation that avoids this problem, but they are not commonly used in biomechanics as they are complex and not inherently intuitive, specifically in dynamic models actuated by muscles. This study introduces a mathematical framework for describing muscle actions in dynamic quaternion-based musculoskeletal simulations. The proposed method estimates muscle torques in a quaternion-based musculoskeletal model. Its application is shown in a three-dimensional double-pendulum system actuated by muscle elements. Furthermore, the transformation of muscle moment arms obtained from muscle paths based on Euler or Cardan angles into a quaternion-based description is presented. The proposed method is advantageous for dynamic modeling of musculoskeletal models with complex kinematics and joints with large ranges of motion like the shoulder joint.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA23-06920S" target="_blank" >GA23-06920S: Funkčně biomimetický exoskelet lidské horní končetiny pro selektivní podporu svalů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Biomechanics

ISSN

0021-9290

e-ISSN

1873-2380

Svazek periodika

191

Číslo periodika v rámci svazku

191

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

6

Strana od-do

—

Kód UT WoS článku

001561443500002

EID výsledku v databázi Scopus

2-s2.0-105013648221