Muscle Activity Estimation Based on Inverse Dynamics and Muscle Stress Analysis by Finite Element Method

摘要

This paper proposes a method to estimate muscle activity with taking account the volumetric- effects of muscles. We analyze muscles as elastic bodies by using finite element method combined with computation technique in robotics. We describe the way to estimate muscle force and deformation as the problem to find muscle activity which produce joint torque calculated by inverse dynamics subject to equilibrium equation of elastic bodies. This problem is solved as sequential quadratic programming with finite element analysis in parallel for each muscle.