1

Biomechanics Tutorials

Venkatesh Balasubramanian, Ph.D.

Rehabilitation Bioengineering Group
Department of Engineering Design
IIT Madras, Chennai 600036
VB – Tutorials Set 1, ED3010, 28-Oct-19
 2

Reference books

 Fundamentals of Biomechanics, Duane Khudson

 Biomechanics of Human Motion, Emeric Arus
 An introduction to Biomechanics, Jay D. Humphrey
and Sherry l. O’Rourke

Note: You can refer to any other books but above reference books
are for your basic understanding of biomechanics

VB – Tutorials Set 1, ED3010, 28-Oct-19

 3

Optimization

VB – Tutorials Set 1, ED3010, 28-Oct-19

 4

Reference Books

 Introduction to Optimum Design , Jasbir s Arora

 Optimization for Engineering Design, Kalyanmoy Deb
 Optimization Techniques An introduction, L.R Foulds
 Nonlinear Optimization of Vehicle Safety Structures,
Jesper and Christophe

Note: You can refer to any other books but above reference books
are for your basic understanding of biomechanics

VB – Tutorials Set 1, ED3010, 28-Oct-19

 5

Example
2-D planar elbow flexion Given data:
LG = 15 cm
LW = 30 cm
G = 15 N
W = 30 N
Fbic Fbrd
Moment arm (cm) 4.6 7.5
PCSA (cm2) 4.6 1.5

Moment equilibrium equation:

 M  4.6  F
i bic  7.5  Fbrd - LG  G - LW  W  0
 4.6  Fbic  7.5  Fbrd - 15  15 - 30  30  0
 4.6  Fbic  7.5  Fbrd  1125 - - - - - - - (1)
Fbic  0 and Fbrd  0 - - - - - - (2)

VB – Tutorials Set 1, ED3010, 28-Oct-19

 6

Linear criteria
Objective function: the total sum of muscle stress is least
Minimize S = ∑Si
Fbic Fbrd
 
4.6 1.5
Use graphical method to solve this problem

Fbic Fbrd

4.6 1.5

VB – Tutorials Set 1, ED3010, 28-Oct-19

 7

Solution: Fbic = 245 N

Fbrd = 0 N
S = 53 N/cm2

This means the system is determinant which is not true

→ Solution is not valid

 Limitations
In this example, we found one muscle (Fbic)
is active i.e., muscle with largest product of the
moment arm and PCSA
Not physiologically consistent
Usually several muscle crossing the joint are
active simultaneously (synergism)
Linear criteria cannot predict the synergism

VB – Tutorials Set 1, ED3010, 28-Oct-19

 8

Non-linear criteria
Minimize S = ∑Si2
2 2  M  4.6  F
i bic  7.5  Fbrd - LG  G - LW  W  0
 Fbic   Fbrd   4.6  Fbic  7.5  Fbrd - 15 15 - 30  30  0
     4.6  Fbic  7.5  Fbrd  1125 - - - - - - - (1)
 4.6   1.5  Fbic  0 and Fbrd  0 - - - - - - (2)

From eq.1, we get: Fbrd  150 - 0.6  Fbic

 Fbic   150 - 0.6  Fbic 
2 2

S   
 4.6   1.5 
dS
To minimize S, 0
dFbic
dS
 0.1 Fbic  0.9(150 - 0.6  Fbic)(-0.6)  0
dFbic
Fbic  202.5 N
Fbrd  25.8 N

VB – Tutorials Set 1, ED3010, 28-Oct-19

 9

In general, Minimize S = ∑Sin

n n
 Fbic   Fbrd 
   
 4.6   1.5 
At n→infinity, Fbrd = Fbic

VB – Tutorials Set 1, ED3010, 28-Oct-19

 10

Home Work – 4
1. Find Fbic and Fbrd using optimization technique using
non-linear criteria for n = 3

Given data:
LG = 15 cm
LW = 30 cm
G = 15 N
W = 30 N
Fbic Fbrd
Moment arm (cm) 4.6 7.5
PCSA (cm2) 4.6 1.5

VB – Tutorials Set 1, ED3010, 28-Oct-19

 11

2. Include Fbra (Brachialis muscle force). Find Fbic, Fbra and Fbrd for n = 1
and n = 2.

Given data:
LG = 15 cm
LW = 30 cm
G = 15 N
W = 30 N

Fbic Fbrd Fbra

Moment arm (cm) 4.6 7.5 2
PCSA (cm2) 4.6 1.5 2

VB – Tutorials Set 1, ED3010, 28-Oct-19

 12

Q. Find Fbic, Fbra and Fbrd for a 2D planar elbow flexion as given in the figure
below. Please use optimization techniques for n = 1 and n = 2.

Assume:
LG = 6.5 cm
LW = 13 cm
G = 10 N
W = 20 N

Fbic Fbrd Fbra

Moment arm (cm) 3.6 5.5 2
PCSA (cm2) 4.6 2.5 3

VB – Tutorials Set 1, ED3010, 28-Oct-19

 13
Problem 1:

Calculate the reaction at the elbow when the person holds a metal ball with
mass 3 kg. The forearm’s length is 30 cm. The weight of the forearm is 5 N.

Solution:
FBD
15 cm w
FAx 15 cm

FAy 5N 29.4 N 30 cm

Equilibrium equations yield:

ΣFx = 0 = Fax

FAx = 0 N

ΣFy = 0 = FAy – 5 – 29.4

FAy = 34.4 N
VB – Tutorials Set 1, ED3010, 28-Oct-19
 14
Problem 2:

An arm is held by two cables: one in the shoulder and the other one in the wrist.
Determine the tension of each cable and the support reactions if a force of 10 lb
is applied to the elbow. D E

Solution: FBD 10 lb
D 10 lb E
10 in 9 in

A B C A B C

Equilibrium equations yield:

ΣFY = 0
TAD +TCE -10 = 0
TAD = -TCE +10

ΣMA = 0
TAD* 0 + TCE*(9/12) – 10*(10/12) = 0

TCE = 5.26 lb
TAD = 4.74 lb
VB – Tutorials Set 1, ED3010, 28-Oct-19
 15
Problem 3:

A forearm holding a weight is presented in this diagram. There R is the reaction

force at the elbow, B is the muscle force for the biceps, G is the weight of the
forearm and W is the weight in the hand. Let W=20 N and G= 15 N. The forearm
is in equilibrium. Find the muscle force for the biceps B and the reaction force R.

Solution: FBD
R B

4 cm

15 cm
G
30 cm
W
Given:
W=20 N and G=15 N

ΣFY = 0 = B – R – G – W
Apply equilibrium conditions: = B – R- 15 N - 20 N
ΣM = 0 = 4*B – 0*R – 15*G – 30*W R = 206.5 N– 15 N– 20 N– 0 N
B = [(15) (-15) – (30) (-20)] / 4 R = 171.2 N

B = 206.5 N
VB – Tutorials Set 1, ED3010, 28-Oct-19
 16
Problem 4:

Consider a woman extending her knee against resistance provided by a

physiotherapist. The mass of the leg (shank + foot) is 5 Kg, located at the center
of mass shown, and 12 mm anterior to the joint. The physiotherapist force of 250
N is applied perpendicular to the leg at a distance of 150 mm from the joint, at an
angle of 8º to horizontal as shown. The quadriceps muscle has a moment arm =
25 mm (applied via the patella tendon at 15º from vertical). What is the
quadriceps muscle force and what is the knee joint (tibio-femoral) force for
equilibrium?

VB – Tutorials Set 1, ED3010, 28-Oct-19

 17
Problem 5:
Three muscles are the major contributors to flexing the forearm; the biceps,
the brachioradialis, and the brachialis. Determine the force in the biceps
muscle, the joint force reaction, and the joint moment at the elbow for an
individual holding a 10 kg mass with its forearm 90º of flexion. The force in
the brachialis muscle is 5 N and in the brachioradialis is 3.6 N.

The following anatomical data is given by the

author:
Length of forearm and hand: 0.5 m
Mass of forearm and hand: 2 kg

Distance from muscle intersection to elbow:

Biceps: 4 cm
Beachialis: 3.5 cm
Brachioradialis: 20 cm

Angle of muscle at 90 º flexion

Biceps: 80.3º
Beachialis: 68.7º
Brachioradialis: 23º

VB – Tutorials Set 1, ED3010, 28-Oct-19

 18
Problem 6:

In an athletics event, two persons are pulling a rope. Determine the

internal forces of the member ABC at the point H and the member BCD
at the point I, if the force applied by the two men is 95 N and the mass
of each arm is 3 Kg. The weight of the rope is not considered.

VB – Tutorials Set 1, ED3010, 28-Oct-19

 19
Problem 7:

For the 70 Kg man whose upper limb is shown below, what is the moment of inertia of:
a) The forearm, for an axis located at the elbow?
b) For forearm + hand, for an axis located at the centre of mass?

Solutio
n: We can use anthropometric data BY Winter (1979,15). The moment of inertia formula is
I = m*k2, where k is the radius of gyration and m is the segment mass.

Winter’s table:

VB – Tutorials Set 1, ED3010, 28-Oct-19