3D biomechanical model that can perform dynamic analysis of the upper extremity and L5/S1 joints without the use of force sensor

Abstract

It is not possible to directly measure the reaction forces and moments acting on the joints in the living things without damaging the integrity of the body. L5/S1 joint in the human body have a higher damage potential than other joints. In this study, it is aimed to develop a method that can calculate the net reaction forces and moments acting on the L5/S1 and upper extremity joints by using only kinematic measurement inputs, without the need for force measurement from the points where the feet contact the ground. For this purpose, 3D biomechanical model suitable for human anatomy was created. Kinematic analyzes were performed using the Denavit–Hartenberg (DH) method. Iterative Newton–Euler (NE) method was used for inverse dynamic calculations. The kinematic measurement inputs of joint movements were obtained by the subject in an experimental study involving the lifting task a certain load from the ground and lowering it to a high place. The model was verified by comparing the results obtained using the proposed method with each other and with the literature data.