• 한국정밀공학회지
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• 제26권6호
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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.

• 한국정밀공학회지
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• 제24권12호
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• pp.20-28
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• 2007

• 대한전기학회논문지:전력기술부문A
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• 제48권11호
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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.

• 산업기술연구
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• 제28권A호
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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.

• 대한기계학회논문집B
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• 제38권1호
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• pp.57-62
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• 2014

인체 해석모델은 주로 인간이 의식적으로 행하는 운동을 중심으로 발전해 왔다. 의식적 운동과 달리 슬개건 반사는 뇌를 거치지 않고 일어난다. 본 연구는 건강한 성인의 슬개건 반사로 인한 대퇴부의 근력과 근활성도를 해석적으로 예측하고자 하였다. 해석 모델은 시상면에서 평면운동을 하고, 앉은 자세에서 상체와 허벅지를 고정시켜 종아리만 진자 운동이 가능하도록 모델링 하였다. 무릎은 레볼루트 조인트로 모델링 하였고, 발목관절은 고정시켜 종아리와 발을 하나의 강체로 가정하였다. 근력은 Mamizuka 의 실험 결과로부터 얻은 운동학 정보를 이용하여 역동역학 해석을 통해 구하였으며, 근활성도는 Hill-type 근육 모델을 이용하여 예측하였다. 해석 결과는 실험결과를 통해 검증되었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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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.

• 대한기계학회논문집A
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• 제38권10호
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• pp.1147-1155
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• 2014

인체의 근골격계 모델을 이용해 근력을 예측하기 위해서는 인체 및 근육의 물성치를 알아야 한다. 하지만 이러한 물성치들은 측정하기도 어렵고 사람마다 편차도 크다. 따라서 이러한 물성치들의 변화에 따라 근력이 얼마나 달라지는지 예측할 필요가 있다. 본 연구의 목적은 인체 및 근육 물성치의 불확실성을 고려하여 의자에서 일어서는 동작 시 인체 하지부의 근력을 예측하는 절차를 정립하는 것이다. 인체 하지부는 8 개의 Hill-type 근육-건 모델이 포함되어 있는 다물체 시스템으로 모델링 하였다. 이 모델은 시상면(sagittal plane)에서 평면운동을 하는 4 자유도 시스템이다. 각 근력은 일어서는 운동을 하는 동안 근육이 소모한 에너지가 최소화 되도록 근력이 결정된다는 가정 하에 최적화 방법을 이용하여 구하였다. 또한 인체 물성치가 불확실성을 가질 때 근력의 표준편차를 First Order Reliability Method 를 이용해 구하였다. 그 결과 주동근 근력의 표준편차는 150~300N 로 상당히 크게 계산되는 것을 알 수 있었다.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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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.

• 한국정밀공학회지
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• 제30권6호
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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.