• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.122-130
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• 2009

The analysis of human movement requires the knowledge of the Hill type muscle parameters, the muscle-tendon and moment arm length change as a function of joint angles. However, values of a subject's muscle parameters are very difficult to identify. It turns out from a sensitivity analysis that the tendon slack length and maximum muscle force are the two critical parameters among the Hill-type muscle model. Therefore, it could be claimed that the variation of the tendon slack length and maximum muscle force from the Delp's reference data will change the muscle characteristics of a subject remarkably. A numeric optimization method to search these tendon parameters specific to a subject is proposed, and the accuracy of the developed algorithm is evaluated through a numerical simulation.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.12
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• pp.20-28
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• 2007

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.11
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• pp.1476-1478
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• 1999

A musculotendon model is proposed to predict muscle force during muscle fatigue due to the continuous functional electrical stimulation(FES). Muscle fatigue dynamics can be modeled as the electrical admittance of muscle fibers and included in activation dynamics based on the{{{{ { Ca}^{2+ } }}}} kinetics. The admittance depends on the fatigue variable that monotonically increase or decrease if electrical pulse exists or not, and on the stimulation parameters and the number of applied pulses. In the response of the change in activation the normalized Hill-type contraction dynamics connected with activation dynamics decline the muscle shortening velocity and thus its force under muscle fatigue. The computer simulation shows that the proposed model can express the muscle fatigue and its recovery without changing any stimulation parameters.

• Journal of Industrial Technology
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• v.28 no.A
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• pp.155-161
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• 2008

Muscle force prediction in forward dynamic analysis of human motion depends many muscle parameters associated with muscle actuation. This research studies the effects of various parameters of Hill type muscle model using the simple hand raising motion. Motion analysis is carried out using motion capture system, and each muscle force is recorded for comparison with muscle model generated muscle force. Using Hill type muscle model, muscle force for generating the same hand rasing motion was setup adjusting 5 activation parameters. The test showed the importance of activation parameters on the accurate generation of muscle force.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.1
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• pp.57-62
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• 2014

Most analytical models of the human body have focused on conscious responses. A patellar tendon reflex, a representative example of spinal reflexes, occurs without a neural command. Muscle forces and activation of the quadriceps femoris muscles in healthy adults during patellar tendon reflex are identified in this study. The model is assumed to move in the sagittal plane, and the thigh and the trunk are assumed to be fixed in a sitting position so that the shank can move similar to a pendulum. The knee joint is modeled as a revolute joint, and the ankle joint is modeled as a fixed joint so that the shank and the foot can be regarded as one rigid body. Muscle forces are calculated following the inverse dynamic approach. Kinematic data obtained from an experiment (Mamizuka, 2007) are used as input data. Muscle activations are identified using a Hill-type muscle model. The obtained simulation results are compared with experimental results for validating the model and the underlying assumptions.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1554-1559
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• 2003

This study validated the musculoskeletal model of the human lower extremity by comparative study between calculated muscle parameters through simulation using modified hill-type model and measured them through isokinetic exercise. And the relationship between muscle forces and moments participated in motion was quantified from the results of simulation. For simulation of isokinetic motion, a three-dimensional anatomical knee model was constructed using trials of gait analysis and the EMG-force model was used to determine muscle activation level exciting muscles. The modified Hill-type model was used to calculate individual muscle forces and moments in dynmaic analysis and the results were validated by comparing them of experiments on BIODEX. The results showed that there was a high correlation between calculated torques from simulation and measured them from experiments for isokinetic motion(R=0.97). Therefore we concluded that the simulation by using musculoskeletal model was so useful means to predict and convalesce musculoskeletal-related diseases, and analyze unrealizable experiment such as clash condition.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.10
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• pp.1147-1155
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• 2014

Biomechanical models are often used to predict muscle and joint forces in the human body. For estimation of muscle forces, the body and muscle properties have to be known. However, these properties are difficult to measure and differ from person to person. Therefore, it is necessary to predict the change in muscle forces depending on the body and muscle properties. The objective of the present study is to develop a numerical procedure for estimating the muscle forces in the human lower extremity under uncertainty of body and muscle properties during rising motion from a seated position. The human lower extremity is idealized as a multibody system in which eight Hill-type muscle force models are employed. Each model has four degrees of freedom and is constrained in the sagittal plane. The eight muscle forces are determined by minimizing the metabolic energy consumption during the rising motion. Uncertainty analysis is performed using a first-order reliability method. The one-standard-deviation range of agonistic muscle forces is calculated to be about 150-300 N.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.1046-1053
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• 1999

The musculotendon model is presented to show the declines in muscle force and shortening velocity during muscle fatigue due to the repeated functional electrical stimulation (FES). It consists of the nonlinear activation and contraction dynamics including physiological concepts of muscle fatigue. The activation dynamics represents $Ca^{2+}$ binding and unbinding mechanism with troponins of cross-bridges in sarcoplasm. It has the constant binding rate or activation time constant and two step nonlinear unbinding rate or inactivation time constant. The contraction dynamics is the modified Hill type model to represent muscle force - length and muscle force - velocity relations. A muscle fatigue profile as a function of the intracellular acidification, pH is applied into the contraction dynamics to represent the force decline. The computer simulation shows that muscle force and shortening velocity decline in stimulation time. And we validate the model. The model can predicts the proper muscle force without changing its parameters even when existing the estimation errors of the optimal fiber length. The change in the estimate of the optimal fiber length has an effect only on muscle time constant in transient period not on the tetanic force in the steady-state and relaxation periods.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.611-613
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• 1998

A structure of musculotendon model with a fatigue profile is investigated. The Hill-type musculotendon model can predicts the decline in muscle force for a given fatigue profile. It consists of nonlinear activation and contraction dynamics based on the physiological concepts. It is normalized for generalization to deal with the various muscles. Muscle force generated by continuous tetanic electrical monophasic pulsewidth modulation stimulation is decreased in time. A fatigue profile is expressed by a function of intramuscular acidification and applied to the relationship between muscle force and shortening velocity in contraction dynamics. The results of computer simulation are well matched with data in a literature which are isometrically performed for knee extension muscles. Also change in optimal fiber length has an effect only on muscle time, constant not on the steady-state tetanic force.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.650-657
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• 2013

This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM$^{(R)}$ equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.