Opensim-Based Dynamics Simulation of Upper Limb

Abstract-Nowadays, robot industry is booming, and the control requirements are higher with more user-friendly features. Therefore, it is significant to study the mechanism of human upper limb movement for robot control optimization. In this study, a musculoskeletal model of human upper limb was established, and the motion data of the upper limb was collected by a stereo photogrammetry system, which was used for model scaling to match the measurement and physiological characteristics of the experimental subjects and generated the generalized coordinate values of the elbow and shoulder joints. Then, Opensim simulates the neuromuscular control mechanism during the pull and trigger action of the subject and analyzes the upper limb dynamics. The RMS and MAX marker errors of the dynamic simulation were within the tolerable range, and the experimental EMG signals could match well with the muscle activation of the simulation results, which verified the correctness of the simulation. It provides a theoretical basis for upper limb kinetic analysis, and also provides thoughts for robot control optimization.