Kinematic modeling of musculoskeletal systems considering muscle inertia for monoarticular muscles.

ABSTRACT: Understanding human musculoskeletal dynamics is the key to further advancement in both biomedical engineering and humanoid robotics. Numerical models today have certain setbacks that hinder the accuracy of analyses, especially in orthopedic surgery and robotic design. A kinematic behavior-based analytical model of musculoskeletal systems is presented that explores muscle inertia and center of mass (COM) variations across six configurations and modes. This model incorporates long and asymmetric tendons, along with a dynamically reducing joint radius relative to the joint angle. A novel 2D wrapping radius method extends the radius by up to 50% compared to the Garner and Pandy method for monoarticular muscles. Additionally, a new analytical method for calculating muscle contraction speed, the

SUBMITTER: Parsian A 

PROVIDER: S-EPMC12583440 | biostudies-literature | 2025 Nov

REPOSITORIES: biostudies-literature