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    Inverse Dynamics: Static Equilibrium

    Uploaded by

    Lucian Nicolau
    1) The document discusses static and dynamic equilibrium for rigid bodies. Static equilibrium applies to bodies at rest where the net forces and torques equal zero. Dynamic equilibrium applies to accelerating bodies where the net forces equal mass times acceleration and net torque equals moment of inertia times angular acceleration. 2) It introduces the technique of inverse dynamics to compute joint forces and torques by measuring positions, ground reactions, and segment parameters then applying the equations of motion. 3) The analysis breaks the body into segments and computes forces and torques at each joint from distal to proximal using kinematic and kinetic data along with the general equations of motion.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    Inverse Dynamics: Static Equilibrium

    Uploaded by

    Lucian Nicolau
    24 views2 pages
    1) The document discusses static and dynamic equilibrium for rigid bodies. Static equilibrium applies to bodies at rest where the net forces and torques equal zero. Dynamic equilibrium applies to accelerating bodies where the net forces equal mass times acceleration and net torque equals moment of inertia times angular acceleration. 2) It introduces the technique of inverse dynamics to compute joint forces and torques by measuring positions, ground reactions, and segment parameters then applying the equations of motion. 3) The analysis breaks the body into segments and computes forces and torques at each joint from distal to proximal using kinematic and kinetic data along with the general equations of motion.

    Original Title

    Lecture 21

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    © Attribution Non-Commercial (BY-NC)

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    1) The document discusses static and dynamic equilibrium for rigid bodies. Static equilibrium applies to bodies at rest where the net forces and torques equal zero. Dynamic equilibrium applies to accelerating bodies where the net forces equal mass times acceleration and net torque equals moment of inertia times angular acceleration. 2) It introduces the technique of inverse dynamics to compute joint forces and torques by measuring positions, ground reactions, and segment parameters then applying the equations of motion. 3) The analysis breaks the body into segments and computes forces and torques at each joint from distal to proximal using kinematic and kinetic data along with the general equations of motion.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    24 views2 pages

    Inverse Dynamics: Static Equilibrium

    Uploaded by

    Lucian Nicolau
    1) The document discusses static and dynamic equilibrium for rigid bodies. Static equilibrium applies to bodies at rest where the net forces and torques equal zero. Dynamic equilibrium applies to accelerating bodies where the net forces equal mass times acceleration and net torque equals moment of inertia times angular acceleration. 2) It introduces the technique of inverse dynamics to compute joint forces and torques by measuring positions, ground reactions, and segment parameters then applying the equations of motion. 3) The analysis breaks the body into segments and computes forces and torques at each joint from distal to proximal using kinematic and kinetic data along with the general equations of motion.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    Static Equilibrium

    Inverse Dynamics

    A system is at rest and will remain at rest No translation or rotation is occurring or will occur Conditions for static equilibrium (from Newtons 1 st Law):
    Net external force in x direction equals zero Net external force in y direction Fy = 0 equals zero Net torque produced by all external forces and all external T=0 torques equals zero Can use any point as the axis of rotation Can solve for at most 3 unknown quantities

    Fx = 0

    Objectives: Define dynamic equilibrium Introduce the technique of inverse dynamics

    Dynamic Equilibrium
    Applies to rigid bodies that are accelerating Conditions for dynamic equilibrium (from Newtons 2nd Law):
    Net external force in x direction equals mass times x accel. Fx = m a x Net external force in y direction Fy = m a y equals mass times y accel. Net torque produced by all external forces and torques T=I equals moment of inertia times angular accel. Net torque must be computed about center of mass or a fixed axis of rotation Can solve for at most 3 unknown quantities

    General Equations of Motion


    From dynamic equilibrium: m ax = Fdx Fpx m ay = Fdy Fpx W Icm = Td Tp + (L c) sin Fdx + c sin Fpx (L c) cos Fdy c cos Fpy Fdy Td
    Distal joint

    Fpx y c

    Proximal joint

    Tp

    Fpy x

    L = segment Fdx
    length

    Computing Joint Forces and Torques


    It is possible to measure:
    joint position (using video / motion capture system; lab 3) ground reaction forces (using force plate; lab 6) center of pressure (using force plate)

    Analysis by Segment
    To compute joint forces and torques, body is broken down into Fkneex individual segments Analyze from distal to leg proximal
    Fankley Fanklex Tankle Tankle

    Fhipx

    thigh
    Fkneey Tknee Tknee Fkneey

    Thip Fhipy

    Wthigh
    Fkneex

    From joint position data, can compute:


    absolute angle of each body segment (lab 5) location of center of mass of each segment (lab 8)

    Can use central difference method to compute:


    angular velocity of segment (lab 5) angular acceleration of segment x and y velocity of segment center of mass (lab 3) x and y acceleration of segment center of mass

    Wleg
    Fanklex Fgrfx

    Finally, use general equations of motion to compute joint forces and torques

    Fankley

    foot
    Wfoot

    Fgrfy

    The End

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