Biomechanical Modeling and Analysis: Recap

Biomechanical
Modeling and Analysis

ENGR 1166 Biomedical Engineering
Recap
A rigid body is in equilibrium if (1) the

resultant of all the forces acting on the body is
zero and (2) the resultant of all the moments
about a given point on the body is zero
= ; , =
Recap
 A free body diagram (FBD) is a pictorial

device to analyze the forces and moments
acting on a body
 The body may consist of many components,
each one acting as a single body. If so, a
whole series of FBDs may be necessary
 In a FBD, constraints are replaced by
arrows representing the forces and
moments they generate
1
Today we focus on…
 A free body diagram (FBD) is a pictorial

device to analyze the forces and moments
acting on a body
 The body may consist of many components,
each one acting as a single body. If so, a
whole series of FBDs may be necessary
 In a FBD, constraints are replaced by
arrows representing the forces and
moments they generate
An example: the human arm

In case study I we
focused on the
equilibrium of just
forearm and hand
Bicep
Load
Joint
2
What if we consider the
effects of the forces at
the shoulder?
Human body has many segments
Depending on the application, each part between two

joints may be considered a segment to be analyzed
Segmental analysis
The ultimate goal is to know what the muscles and joint

are doing when a movement is performed
3
Segmental analysis: assumptions
 The human skeleton is represented as a series of

links
 Many link systems have been used (e.g., cones,
spheres, etc.)
Segmental analysis: assumptions
 The human skeleton is represented as a series of

links
 Many link systems have been used (e.g., cones,
spheres, etc.)
 The simplest and most adopted link system is the
stick man
The stick man model
Olympic snatch
 The stick man uses straight sticks to represent each of

the links
 Remember, each segment is a rigid body connected at
joints!
 Remember, each segment has a CoG and a weight!
4
Segmental analysis: a case study
We want to study the effects of position and

load on the lower back and understand under
what conditions the subject can be hurt
Key points of the segmental analysis
With regard to the case study, we will follow these rules:
1) Break the body into rigid body segments

(stick man representation)

2) Analyze each segment using a FBD
5

2) Analyze each segment using a FBD
3) At the intersection of two segments, the
forces in the first segment are equal in
magnitude and opposite in direction to the
forces in the adjoining segment

moment in the first segment also occurs in
the adjoining segment

5) Reduce the number of equations by using
substitution
6

5) Reduce the number of equations by using
substitution
6) Solve the equations by replacing variables
with quantitative values
Step 1: what assumptions?

The system is in equilibrium
The analysis is in 2D
We want to study the load at the
base of the trunk
7
base of the trunk
 We can subsume all in three rigid

bodies: (1) arm segment; (2) trunk
segment; (3) leg segment
ground

base of the trunk
 We can subsume all in three rigid

ground
 Segments (2-3) must account for
two arms and two legs!
Step 1: what else?

We can subsume all in three rigid
Segments (2-3) must account for
two arms and two legs
ground
8
Step 1: what else?
The weight of the head can be
ground neglected
Step 1: what else?

ground neglected
The load occurs at the end of the
arm segment
Step 1: what else?

° two arms and two legs
ground neglected
The load occurs at the end of the
arm segment
9
Step 2: derive the FBDs
A) FBD of the arm segment

,
,
CoG
≝ weight of the load

≝ weight of one single arm segment
, , , ≝ forces (in the and direction)
at the shoulder joint
B) FBD of the trunk segment

− ,
− ,
CoG
,
°
≝ weight of the trunk segment
at the shoulder joint
at the hip joint
10
C) FBD of the leg segment

− ,
− ,
CoG
,
°
,
≝ weight of one single leg segment

, , , ≝ forces (in the and direction) at the hip
, , , ≝ forces (in the and direction) at the ankle
Step 3: equilibrium
A) arm segment B) trunk segment C) leg segment
,
− − − , − ,
, ,
,
CoG
CoG
CoG
, ,
Step 3: equilibrium
A) arm segment
,
,
CoG
11
Step 3: equilibrium
A) arm segment
, ≝ length of the arm segment
, ≝ distance from the shoulder
CoG
to the CoG of the arm
Step 3: equilibrium
A) arm segment
CoG
) , =0 ) , − − =0
Step 3: equilibrium
A) arm segment
CoG
) , =0 ) , − − =0
moments WRT the shoulder joint:
− sin − sin + =0
12
Step 3: equilibrium
A) arm segment
CoG
) , =0 ) , − − =0
moments WRT the shoulder joint:
− sin − sin + =0
moment at the joint that the shoulder exerts to keep the arm in equilibrium
Step 3: equilibrium
A) arm segment B) trunk segment
− , − ,
CoG
Step 3: equilibrium
≝ length of the
trunk segment − , − ,
≝ distance from the
hip to the CoG of CoG
the trunk
,
13
Step 3: equilibrium
≝ length of the
the trunk
,
)− , + , =0 )− , + , − =0
Step 3: equilibrium
≝ length of the
the trunk
,
)− , + , =0 )− , + , − =0
moments WRT the hip joint:
− , sin − sin − + =0
Step 3: equilibrium
≝ length of the
the trunk
,
)− , + , =0 )− , + , − =0
− , sin − sin − + =0
it comes from the FBD of the previous segment
14
Step 3: equilibrium
≝ length of the
the trunk
,
)− , + , =0 )− , + , − =0
− , sin − sin − + =0
moment at the joint that is exerted to keep the trunk in equilibrium
Step 3: equilibrium
− , − ,
CoG
, ,
Step 3: equilibrium
≝ length of the leg segment − , − ,
CoG
, ,
15
Step 3: equilibrium
CoG
, ,
)− , + , =0 )− , + , − =0
Step 3: equilibrium
CoG
, ,
)− , + , =0 )− , + , − =0
moments WRT the ankle joint:
, − + =0
Step 3: equilibrium
CoG
, ,
)− , + , =0 )− , + , − =0
from the FBD of the , − + =0
previous segment
16
Step 3: equilibrium
CoG
, ,
)− , + , =0 )− , + , − =0
− + =0
due to the interaction
, with the foot segment
and the ground
What we have so far

=0
A) arm segment
,
, −2 − =0
− sin −2 sin + =0
B) trunk segment
− , + , =0
− , + , − =0
− , sin − sin − + =0
− + , =0
C) leg segment
,
− , + , −2 =0
, − + =0
What we have so far

=0
A) arm segment
,
, −2 − =0
− sin −2 sin + =0
B) trunk segment
, = , =0
− , + , − =0
− , sin − sin − + =0
= , =0
C) leg segment
,
− , + , −2 =0
, − + =0
17
What we have so far
, −2 − =0
− sin −2 sin + =0
− , + , − =0
− , sin − sin − + =0
− , + , −2 =0
What we have so far

, −2 − =0
− sin −2 sin + =0
− , + , − =0
− , sin − sin − + =0
− , + , −2 =0
Variables to solve for:
, , ,
Reducing the number of equations

, −2 − =0
− sin −2 sin + =0
− , + , − =0
− , sin − sin − + =0
− , + , −2 =0
18
, −2 − =0
− sin −2 sin + =0
− , + , − =0
− , sin − sin − + =0
− , + , −2 =0
− sin − 2 sin + =0
− 2 + + , − =0
− 2 + sin − sin − + =0
− , + , −2 =0
=
, =2 +
− sin − 2 sin + =0
− 2 + + , − =0
− 2 + sin − sin − + =0
− , + , −2 =0
=
, =2 +
19
− sin − 2 sin + =0
− 2 + + , − = 0
− 2 + sin − sin − + =0
=
, =2 +
, = , +2
Step 4: do the calculations
− sin − 2 sin + =0
− 2 + + , − =0
− 2 + sin − sin − + =0
Given:
=10 lbf
=
subject’s weight = 160 lbf
, =2 + subject’s height = 72 in
, = , +2
− sin − 2 sin + =0
− 2 + + , − =0
− 2 + sin − sin − + =0
Given:
=10 lbf
=
, = , +2 from tables
= 0.050 × 160 = 8.0 lbf
= 0.497 × 160 = 79.5 lbf
= 0.0465 × 160 = 7.4 lbf
20
− sin − 2 sin + =0
− 2 + + , − = 0
− 2 + sin − sin − + =0
Given:
=10 lbf
=
= 0.050 × 160 = 8.0 lbf
= 0.440 × 72 = 31.7 in = 0.497 × 160 = 79.5 lbf
= 0.288 × 72 = 20.7 in = 0.0465 × 160 = 7.4 lbf
− sin − 2 sin + =0
− 2 + + , − =0
− 2 + sin − sin − + =0
Given:
=10 lbf
=
= 0.050 × 160 = 8.0 lbf
= 0.530 × = 16.8 in = 0.497 × 160 = 79.5 lbf
= 0.500 × = 10.4 in = 0.0465 × 160 = 7.4 lbf
−10 × 31.7 sin − 2 × 8 × 16.8 sin + =0

− 2 × 8 + 10 + , − 79.5 = 0
−26 × 20.7 sin − 79.5 × 10.4 sin − + =0
=
, = 2 × 8 + 10 = 26
, = , + 2 × 7.4
21
−317 sin − 268.6 sin + =0
−538.2 sin − 824.3 sin − + =0
=
, = 26 lbf
, = 105.5 lbf
, = 120.3 lbf
Parameters to be derived
−317 sin − 268.6 sin + =0
−538.2 sin − 824.3 sin − + =0
=
, = 26 lbf
, = 105.5 lbf
, = 120.3 lbf
arm segment
CoG
trunk segment
°
CoG
22
arm segment
CoG
trunk segment
°
CoG
arm segment
CoG
trunk segment
°
CoG
= + − 180° = 50°
= 180° − = 20°
,
Solution to the segmental analysis
−317 sin 50° − 268.6 sin 50° + =0
−538.2 sin 20° − 824.3 sin 20° − + =0
=
, = 26 lbf
, = 105.5 lbf
, = 120.3 lbf
23
Solution to the segmental analysis
−317 sin 50° − 268.6 sin 50° + =0
−538.2 sin 20° − 824.3 sin 20° − + =0
=
= 26 lbf = 448.6 in lbf
= 914.6 in lbf
,
, = 105.5 lbf
, = 120.3 lbf
Conclusions
We wanted to know the effects of

position and load on the lower back
Conclusions
= 914.6 in lbf
, = 105.5 lbf
24
Conclusions
= 914.6 in lbf
, = 105.5 lbf
axial (compressive) and shear forces act on the spine

= , cos
= , sin
Conclusions
, −
120 Theta 1 held at 55 Degrees
100 -2000 Theta 2 held at 20 Degrees
-1800
80 Axial
-1600
Force
-1400
60 Shear
in lbf
lbf
-1200
Force
40
-1000
-800
20
-600
-400
0
-200
0
0 20 40 60 80 100 0 20 40 60 80 100
in degrees ( is kept at 55⁰) degrees
25

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Biomechanical

Modeling and Analysis

A rigid body is in equilibrium if (1) the

 A free body diagram (FBD) is a pictorial

 A free body diagram (FBD) is a pictorial

An example: the human arm

An example: the human arm

Human body has many segments

Depending on the application, each part between two

The ultimate goal is to know what the muscles and joint

 The human skeleton is represented as a series of

Segmental analysis: assumptions

 The human skeleton is represented as a series of

The stick man model

 The stick man uses straight sticks to represent each of

We want to study the effects of position and

Key points of the segmental analysis

With regard to the case study, we will follow these rules:

1) Break the body into rigid body segments

Key points of the segmental analysis

With regard to the case study, we will follow these rules:

1) Break the body into rigid body segments

With regard to the case study, we will follow these rules:

1) Break the body into rigid body segments

Key points of the segmental analysis

With regard to the case study, we will follow these rules:

4) At the intersection of two segments, the

Key points of the segmental analysis

With regard to the case study, we will follow these rules:

4) At the intersection of two segments, the

With regard to the case study, we will follow these rules:

4) At the intersection of two segments, the

Step 1: what assumptions?

Step 1: what assumptions?

 We can subsume all in three rigid

Step 1: what assumptions?

 We can subsume all in three rigid

Step 1: what else?

Step 1: what else?

Step 1: what else?

Step 2: derive the FBDs

A) FBD of the arm segment

≝ weight of the load

Step 2: derive the FBDs

B) FBD of the trunk segment

C) FBD of the leg segment

≝ weight of one single leg segment

What we have so far

What we have so far

What we have so far

Variables to solve for:

Reducing the number of equations

Reducing the number of equations

Reducing the number of equations

Step 4: do the calculations

Step 4: do the calculations

Step 4: do the calculations

Step 4: do the calculations