Modeling musculoskeletal kinematic and dynamic redundancy using null space projection.

ABSTRACT: The coordination of the human musculoskeletal system is deeply influenced by its redundant structure, in both kinematic and dynamic terms. Noticing a lack of a relevant, thorough treatment in the literature, we formally address the issue in order to understand and quantify factors affecting the motor coordination. We employed well-established techniques from linear algebra and projection operators to extend the underlying kinematic and dynamic relations by modeling the redundancy effects in null space. We distinguish three types of operational spaces, namely task, joint and muscle space, which are directly associated with the physiological factors of the system. A method for consistently quantifying the redundancy on multiple levels in the entire space of feasible solutions is also present

SUBMITTER: Stanev D 

PROVIDER: S-EPMC6314624 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature