HUMAN MUSCULOSKELETAL BIOMECHANICS Edited by Tarun Goswami Human Musculoskeletal Biomechanics Edited by Tarun Goswami Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Iva Simcic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright Stephen Coburn, 2010. Used under license from Shutterstock.com First published August, 2011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Human Musculoskeletal Biomechanics, Edited by Tarun Goswami p. cm. ISBN 978-953-307-638-6 free online editions of InTech Books and Journals can be found at www.intechopen.com Contents Preface IX Part 1 Motion Preservation 1 Chapter 1 A Task-Level Biomechanical Framework for Motion Analysis and Control Synthesis 3 Vincent De Sapio and Richard Chen Chapter 2 European Braces for Conservative Scoliosis Treatment 29 Theodoros B. Grivas Chapter 3 Motion Preservation and Shock Absorbing in Cervical and Lumbar Spine: A New Device for Anterior Cervical Arthroplasty, for Anterior or Posterior Lumbar Arthroplasty 49 Giuseppe Maida Part 2 Musculoskeletal Biomechanics 59 Chapter 4 Biomechanical Characteristics of the Bone 61 Antonia Dalla Pria Bankoff Chapter 5 Biomechanical Studies on Hand Function in Rehabilitation 87 Sofia Brorsson Chapter 6 Cervical Spine Anthropometric and Finite Element Biomechanical Analysis 107 Susan Hueston, Mbulelo Makola, Isaac Mabe and Tarun Goswami Chapter 7 Biomechanics of the Temporomandibular Joint 159 Shirish M. Ingawalé and Tarun Goswami VI Contents Part 3 Nano Behavior 183 Chapter 8 Design and Analysis of Key Components in the Nanoindentation and Scratch Test Device 185 Hongwei Zhao, Hu Huang, Jiabin Ji and Zhichao Ma Part 4 Vascular Biomechanics 209 Chapter 9 Elements of Vascular Mechanics 211 Gyorgy L Nadasy Preface The field of biomechanics has been evolving from the ancient Greeks times. Recent publications and research in biomechanics sky rocketed as the field of traditional biomechanics is creating new opportunities in diagnostics, therapy, rehabilitation, motion preservation, kinesiology, total joint replacement, biomechanics of living systems at small scale, and other areas. Biomechanics now encompasses a range of fields. The book on Human Musculoskeletal Biomechanics is a broad topic and may provide the platform for newer text and editions as the research evolves and new results obtained. In the current form, the book covers four areas: 1) motion preservation, which will be useful in designing functional braces for different skeletal areas used in therapy and/or rehabilitation, 2) musculoskeletal biomechanics, which includes soft and hard tissue and their behavior under the actions of forces, motion, strain and modeling them analytically and experimentally, 3) nano- behavior, is another area which is developing where mechanical properties of living systems are determined that will be useful in developing treatment methods and understanding the small living systems such as viruses, and 4) vascular biomechanics, a new area that will also develop in the future with surgery. Therefore, the book presents information on the four sections, in a concise format. Based on these sections, new courses may be developed at graduate level or some of the concepts used to teach undergraduate students in biomedical engineering. Since the book will be available on open access, its use will be free to students, and to introduce this topic as a new course, if desired. The four sections presented in this book will continue to challenge both the researchers and students in the future and therefore, creation of new knowledge. Dr. Tarun Goswami D.Sc. Equity Advisor - College of Engineering and Computer Science; Founding Director - Device Development Center; Director - Damage Tolerance and Probabilisitic Life Prediction of Materials Center; Focus Area Chair - Ph.D. in Engineering - Medical and Biological Systems; Associate Professor of Biomedical, Industrial, and Human Factors Engineering, Wright State University; Associate Professor, Department of Orthopaedic Surgery, Sports Medicine & Rehabilitation USA [...]... Khatib (19 87), Λ(q ) x + μ(q, q ) + p (q ) = f , ¨ ˙ (8) ˙ where Λ(q ) ∈ R m×m is the operational space mass matrix, μ(q, q ) ∈ R m is the operational space centrifugal and Coriolis force vector, and p (q ) ∈ R m is the operational space gravity vector These terms are given by, Λ(q ) = (JM 1 J T ) 1 , μ(q, q ) = ΛJM ˙ 1 p (q ) = ΛJM 1 ˙˙ b − ΛJ q, (10 ) g, (11 ) N (q ) = 1 − J ΛJM T (9) T 1 (12 ) Thus,... Θ τ = Λf + μ + p − J T Φ T (α + ρ), where the linear control law of (19 ) can be used (26) 10 Human MusculoskeletalWill-be-set-by-IN-TECH Biomechanics 8 It is noted that (20) does not expose the constraint forces (Lagrange multipliers) An alternate form of the constrained task space dynamics is, De Sapio & Park (2 010 ); De Sapio (2 011 ), Θ T J T (Λc x + μc + pc ) + Φ T (α + ρ) + NcT τo − Φ T λ = τ ¨ (27)... vector, and Nc (q ) T ∈ R n×n is the task/constraint null space projection matrix These terms are given by, Λc (q ) = (JM 1 Θ T J T ) 1 , ˙ ˙ ˙ μc (q, q ) = Λc JM 1 Θ T b − Λc (J − JM 1 Φ T H Φ)q, ˙ pc (q ) = Λc JM 1 Θ T g, Nc (q ) T = Θ T (1 − J T Λc J ΘM 1 ) (28) (29) (30) ( 31) Equation (27) expresses the control torque as a function of the task accelerations, x , the ¨ kinematic and dynamic properties,... ˙ α(q, q ) = HΦM 1 b − H Φq, ρ(q ) = HΦM 1 g, ( 21) (22) where H (q ) ∈ R mC ×mC is the constraint space mass matrix which reflects the system inertia projected at the constraint, H (q ) = (ΦM 1 Φ T ) 1 (23) The constraint null space projection matrix, Θ(q ) T ∈ R n×n , is given by, ¯T Θ (q ) T = 1 − Φ T Φ , (24) ¯ where, Φ, is the dynamically consistent inverse of Φ, ¯ Φ = M 1 Φ T H (25) The control.. .Part 1 Motion Preservation 1 A Task-Level Biomechanical Framework for Motion Analysis and Control Synthesis Vincent De Sapio and Richard Chen Sandia National Laboratories * USA 1 Introduction The behavioral richness exhibited in natural human motion results from the complex interplay of biomechanical and neurological factors The biomechanical factors involve the kinematics and dynamics of the musculoskeletal. .. understanding the overall effect on human motion as well as providing a means for synthesizing human motion The fields of neuroscience, biomechanics, robotics, and computer graphics provide motivation, as well as tools, for understanding human motion In neuroscience, fundamental scientific understanding drives the motivation to understand human motion, whereas, in biomechanics, clinical applications... the U.S Department of Energy’s National Nuclear Security Administration under contract DE-AC04-94AL85000 4 2 Human MusculoskeletalWill-be-set-by-IN-TECH Biomechanics and control occurs based on the integration of sensory information from proprioceptors distributed throughout the musculoskeletal system Some knowledge of the biomechanical plant is also assumed to be encoded in the CNS Fig 1 Motor control... synthesizing low-level human motion control from high-level commands can be addressed by integrating approaches from the Fig 3 A task description with complementary task consistent postures Redundancy with respect to task introduces task dynamics as well as posture dynamics 6 4 Human MusculoskeletalWill-be-set-by-IN-TECH Biomechanics biomechanics and robotics communities The biomechanics community... approaches require extensive motion planning computations and do not generalize well to related tasks 1. 1 Human motion control The basic constituents of the human motor system include the biomechanical plant and the CNS A high-level block diagram, sufficient for our present purposes, is depicted in Fig 1 Based on some specified task the CNS performs motor planning which culminates in low-level control... high-level control framework for robotic systems With the recent advent of complex humanoid robots this challenge has grown more demanding Consistent with their anthropomorphic design, humanoid robots are intended to operate in a human- like manner within man-made environments and to promote interaction with their biological counterparts To achieve this, common control strategies have involved generating joint . gravity vector. These terms are given by, Λ (q)=(JM 1 J T ) 1 ,(9) μ (q,˙q)=ΛJM 1 b − Λ ˙ J ˙q, (10 ) p (q)=ΛJM 1 g, (11 ) N (q) T = 1 − J T ΛJM 1 . (12 ) Thus, the overall dynamics of our multibody. by, Λ c (q)=(JM 1 Θ T J T ) 1 , (28) μ c (q,˙q)=Λ c JM 1 Θ T b − Λ c ( ˙ J − JM 1 Φ T H ˙ Φ) ˙q, (29) p c (q)=Λ c JM 1 Θ T g, (30) N c (q) T = Θ T (1 − J T Λ c JΘM 1 ). ( 31) Equation (27). HUMAN MUSCULOSKELETAL BIOMECHANICS Edited by Tarun Goswami Human Musculoskeletal Biomechanics Edited by Tarun Goswami