Multibody dynamics, simulation, and parameter identification of 3D biomechanical systems

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A surgeon has a new idea for a procedure that may help an injured patient walk again. The procedure involves re-routing some tendons and ligaments. But how does the surgeon test out their idea before using it on a patient? How can a biomechanical engineer design and test a new prosthesis or rehabilitation device? The safety implications are profound, especially if the device contains electrical motors and controllers. Computer simulations can help answer these and other questions, but the simulations must be accurate and fast. The 5-year goal of this research is to develop automated simulations of three-dimensional (3D) biomechanical systems that interact with electro-mechanical devices, a field known as "biomechatronics". The applicant will build upon his previous work in multibody dynamics, in which algorithms have been created to automatically simulate the motion of a system of interconnected bodies. By streamlining the analysis, more time can be spent on the design of new products and processes; hence, multibody dynamics has been widely adopted by the robotics, aerospace, and automotive industries. However, recent attempts to extend multibody dynamics to the analysis of 3D human motions have encountered a number of challenges: the nonlinearity of soft tissues, especially during contact with the ground or other hard surfaces, identification of model parameters, and the control of 3D human balance. There are currently no multibody dynamics algorithms that can faithfully predict the natural motion of a 3D biomechanical system with computationally-efficient contact models. To develop such simulations, mathematical models of muscles, joints, and 3D contact with hard surfaces will be incorporated into the applicant's multibody algorithms. Sensitivity analyses will be used to identify model parameters that give valid results. To predict balanced human motions, we will combine new optimization methods with recent theories on biped robot control. Applications will focus on walking and touching, for which experimental facilities are available. We will collaborate with kinesiologists and other health care professionals to apply our simulation tools to the treatment of illnesses and the design of assistive devices.