Simulation_Lab3 - Simulation Lab#3 Muscle-Actuated...

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Simulation Lab #3: Muscle-Actuated Simulation of Kicking Professor B.J. Fregly Mechanics of the Human Locomotor System EML 5595 - Fall 2010 Laboratory Developers: Darryl Thelen, Silvia Blemker, Scott Delp, Clay Anderson Neuromuscular Biomechanics Lab, Stanford University Laboratory converted to OpenSim by Kate Saul Holzbaur, Wake Forest University I. Introduction In this simulation lab, you will learn how to couple musculoskeletal geometry, muscle-tendon actuator models, and dynamic skeletal models together to produce a muscle-actuated forward dynamic simulation of human movement. The software package OpenSim will be used to simulate kicking. After producing the model, you will explore some of the complexities involved in defining a set of muscle excitations that can produce a coordinated, purposeful movement. II. Objectives The purpose of this lab is to learn how to conduct a muscle actuated forward dynamic simulation of movement. By working through this lab, you will: Become familiar with the implementation of inverse and muscle-driven forward dynamic simulations using OpenSim. Investigate the sensitivity of joint moments to perturbations in task kinematics. Explore the complexity of neuromuscular control for an apparently simple task. Become familiar with the Analyze tool and several of the analysis options. III. Deliverables Please turn in a written report (hard copy) using the report template Simulate_Lab3_report.rtf. IV. Getting Started Download the following files from the course web site:
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Simulation_Lab3.pdf and Simulation_Lab2_report.rtf These files contain the instructions and the template for the lab and report. Simulation_Lab3.osim This file contains the template for simplified model of a right leg with 3 muscle actuators. Geometry This folder contains the polygonal files that describe the surfaces of the bones. This folder must be in the same directory as the other files and must be named Geometry. Simulation_Lab3.mot This movement file drives the nominal kicking motion. Simulation_Lab3_Actuators.xml This file includes a description of passive restraining torque actuators (i.e., due to ligaments) that enforce the joint limits. convertStorageToControls.exe This utility program converts .sto files to .xml files. You may find the OpenSim User Guide helpful for completing this simulation lab. V. Muscle-Actuated Forward Dynamic Models Dynamic models of the musculoskeletal system are typically comprised of four components: 1) the equations of motion for the body, or skeletal dynamics, 2) a representation of the musculoskeletal geometry, 3) a model of activation dynamics, and 4) a model of muscle-tendon mechanics. Figure 1 below shows how these components combine in a forward dynamic simulation. Based on a set of initial states, which include the muscle activations ܽ റሺݐሻ , muscle forces ݂ ሺݐሻ , generalized speeds ݑ ሬ ሺݐሻ , and generalized coordinates
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Simulation_Lab3 - Simulation Lab#3 Muscle-Actuated...

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