This thesis aims to contribute to increasing the number of scientific studies in this area by examining the foot-ground interactions of a skeletal model made in Adams, and in particular by determining by simulation the proper course of Ground Reaction Forces (GRFs). The thesis begins with a detailed description of human walking, describing how the major segments that make up the lower limbs behave. Next, the topic of anthropometry is addressed by tracing its history from early studies in the mid-19th century. For the realization of the skeletal model, reference was made to a musculoskeletal model found in the opensource Opensim computational code. The choice of this model is not accidental. In fact, for the simple creation of a skeletal model one can refer to more famous models such as Dempster's or Zatsiorsky and De Leva's. But in order to run the simulations one needs the angular positions over time of the various joints, which are present in the Opensim models. Special attention was paid to the modeling of the foot whose characteristics strongly influence the GRFs. Finally, the results obtained were compared with the experimental results of the model considered in Opensim.
Questa tesi si pone l’obbiettivo di contribuire ad aumentare il numero degli studi scientifici in questo ambito esaminando le interazioni piede-suolo di un modello scheletrico realizzato in Adams, ed in particolare determinando mediante simulazione il corretto andamento delle Ground Reaction Forces (GRF). La tesi inizia con una descrizione dettagliata della camminata umana, descrivendo come si comportano i segmenti principali che compongono gli arti inferiori. Successivamente si affronta il tema dell’antropometria ripercorrendo la sua storia a partire dai primi studi di metà 800. Per la realizzazione del modello scheletrico si è fatto riferimento ad un modello muscolo-scheletrico presente nel codice di calcolo opensource Opensim. La scelta di questo modello non è casuale. Infatti, per la semplice creazione di un modello scheletrico si può fare riferimento a modelli più famosi come quello di Dempster oppure di Zatsiorsky e De Leva. Ma per eseguire le simulazioni servono le posizioni angolari nel tempo delle varie articolazioni, presenti nei modelli Opensim. Si è prestata particolare attenzione alla modellazione del piede le cui caratteristiche influenzano fortemente le GRF. Infine, i risultati ottenuti sono stati confrontati con i risultati sperimentali del modello considerato in Opensim.
Studio della dinamica della camminata umana tramite simulazioni multibody
SADAK, HATIM
2022/2023
Abstract
This thesis aims to contribute to increasing the number of scientific studies in this area by examining the foot-ground interactions of a skeletal model made in Adams, and in particular by determining by simulation the proper course of Ground Reaction Forces (GRFs). The thesis begins with a detailed description of human walking, describing how the major segments that make up the lower limbs behave. Next, the topic of anthropometry is addressed by tracing its history from early studies in the mid-19th century. For the realization of the skeletal model, reference was made to a musculoskeletal model found in the opensource Opensim computational code. The choice of this model is not accidental. In fact, for the simple creation of a skeletal model one can refer to more famous models such as Dempster's or Zatsiorsky and De Leva's. But in order to run the simulations one needs the angular positions over time of the various joints, which are present in the Opensim models. Special attention was paid to the modeling of the foot whose characteristics strongly influence the GRFs. Finally, the results obtained were compared with the experimental results of the model considered in Opensim.File | Dimensione | Formato | |
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https://hdl.handle.net/20.500.12608/56271