10/27/2005

Advanced biomechanical
modeling and optimization

http://www.ime.aau.dk/~jr/lecturenotes.htm

Overview of the 5 lectures

1. Basic mechanics and Inverse dynamics
2. ”Serious” computational
biomechanics - AnyBody
3. Muscle models
4. Solid mechanics
5. FEM

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Assumptions and limitations

• With AnyBody one can only model skilled
movements
– Crashes, slips, falls, etc cannot be modeled.
• Rigid segments
– Explosive movements cannot be modelled
due to wobbling masses.
• No activation dynamics in muscle model

User Interface Demo

Analysis of a bicycle model

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Models are written in AnyScript

• Object-oriented
• Declarative
• Syntax similar
to Java or C++
• Predefined
classes
• Tutorials and
reference
available

Why a Scripting Language?

• No hidden data – the script is the model
• Modeling task too abstract to be
encapsulated in a GUI
• Compact text-format models
• Easy exchange of models
• Allows for models to be scrutinized

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Model Objects
• Describe model elements such as bones, muscles and joints.
• When an object is declared, it is present in the model – no
programming necessary.
• Objects have properties
– Required
– Optional
– Denied access

Type Name

AnyRevoluteJoint Shoulder = { Properties

Axis = z;
AnyRefNode &GroundNode = ..GlobalRef.Shoulder;
AnyRefNode &UpperArmNode = ..Segs.UpperArm.ShoulderNode;
}; // Shoulder joint

Classes are derived from each other

• All classes inherit AnyKinMeasure
properties from
simple base
classes AnyKinMeasureOrg
• Typically a child
class has all the
properties of its AnyKinEq AnyJoint
parent and then
some more
• When having to AnyKinEqDriver AnyStdJoint
refer to a class
you can also
refer to one of its AnyKinEq-
children. AnySphericalJoint
SimpleDriver
• Class names
tend to reflect the AnyKinEq-
AnyRevoluteJoint
kinship. InterPolDriver

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Demo and exercise

Bottom-up modeling
• I demo the first steps
• Afterwards you follow
along and do the entire
tutorial:
– Getting started with
AnyScript.
• Further demo ”on the fly”
• Notice: Real applications
are rarely built bottom-up

The Model Repository

Building realistic models from
existing body parts
• Demo of some
examples
• Model repository
structure
• Integrating body parts
directly
• Body collections
• Scaling

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Working with real human models

• Human physiology is too complex to be
modeled bottom-up every time
• We need a library
• The AnyScript Model Repository is a
scientific undertaking to provide
musculoskeletal models of the human
body
• www.anybody.aau.dk/repository

Real model development

Public domain
model repository

Modeled by the user

Body parts Environment

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Demo: The standing model

• All the body parts in
one model
• The environment is
very simple:
– A floor
– Some external forces
• Postures are
controlled by joint
angle drivers.

Repository structure
Repository

BRep ARep
Aalborg Aalborg
Arm3D Ulm
Spine Pisa
Leg2D Aarhus
Leg3D
BodyModels
Scaling
Toolbox
Pisa
Upper limb
Aarhus
SymmetricMandible1

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The BRep Branch

• The BRep branch of the repository contains the
different body parts (modular blocks) alone and in
assemblies.
• Assemblies can be found in the BodyModels
directory.
• Each directory in the BRep branch contains one file
named <BodyPartName>.Root.any. This "root" file
is the entry point of the particular body part, and it
links to the necessary elements by means of
include statements. If you desire to use this body
part, it is the root file you must include in your
application. The root file also provides a list of files
used by the body part. Body parts in
• The BRep does not contain any drivers for the Brep have no
body parts. These are added in the application. drivers applied

BRep Parts
• The BRep contains a
BodyModels directory with Body part
various collections of single
body parts, for instance: Application
– FullBodyModel
– SpineTwoArms
Body part
– SpineTwoLegs Body model Application
– SpineNoMusclesTwoLegs
– SpineNoMusclesRightLeg Body part
• These models are normally
included directly in the main file Body model Application
of the application.
• The models contain calibration Body part
studies and position dump
studies, which can be Application
controlled from the main file of Body part
the application without any
changes to the BodyRepository
files.

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BodyModel structure
BodyModels: popular collections of body parts:
FullBodyModel
FullBodyRightArm BRep
SpineTwoArms
Aalborg
SpineTwoLegs
SpineRightArm Arm3D
TwoLegs
These even come in various combinations with and
Spine
without muscles and with different muscle models. Leg2D
It is much easier to use a BodyModel than to use the Leg3D
individual body parts in an application because the
BodyModels contain much of the interface BodyModels
specifications that the user has to specify when
using an individual body part.

These models contain calibration studies and

position dump studies, which can be controlled from
the main file of the application without any changes
to the BodyRepository files.

Using a body model

Simply insert the BodyModel include file into your application.

AnyFolder HumanModel = {
#include "..\..\..\BRep\Aalborg\BodyModels\FullBodyModel\BodyModel_Mus3E.any“
};

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Versions of body models

Most of the body parts come in three versions, the difference being the
muscle configuration.
• A version with joint muscles for kinematics “traditional” inverse dyn.
• A version with simple muscles for static and slow movements
• A version with complex three-element muscles
AnyFolder HumanModel = {
//This model is only for kinematic analysis and should be used when playing around
// with the kinematics of the model since leaving the muscles out, makes the model run much faster
//#include "..\..\..\BRep\Aalborg\BodyModels\FullBodyModel\BodyModel_NoMuscles.any"
//This model uses the simple constant force muscles
//#include "..\..\..\BRep\Aalborg\BodyModels\FullBodyModel\BodyModel.any"
//This model uses the simple constant force muscles for shoulder-arm and spine but
//the 3-element hill type model for //the legs. Remember to calibrate the legs before
//running the inverse analysis.
#include "..\..\..\BRep\Aalborg\BodyModels\FullBodyModel\BodyModel_Mus3E.any“
};

ARep Branch
Repository 5

BRep ARep
Aalborg Aalborg
Arm3D Ulm
Spine Pisa
Leg2D Aarhus
Leg3D
BodyModels
Scaling
Toolbox
Pisa
Upper limb
Aarhus
SymmetricMandible1

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Repository structure ARep

ARep stands for "Application Repository", and it contains the
various devices, environments and working situations you may want
to hook the body up to.

Body parts in BRep Working situations in ARep

This means that the ARep branch is where you can find the main files
of models you can analyze. You will know them by their names:
<ApplicationName>.main.any

ARep Contents ArmCurl

BikeModelFullBody
ARep
BikeSpring
BikeModel2D
BikeModel3D
Egress
Gait3D
Gearstick
JumpingJack
Aalborg KneeLoad
LawnMower
PedalDemo
Pushup
SeatedHuman
StandingModel
StandingModelLift
StandingModelCircumduction
StandingModelMove
WheelChair
Ulm WheelTurn
Pisa Slider crank
Dumbbell
Aarhus Symmetricmodel

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Structure of an ARep Model

All the applications are built using body parts, which are connected to the
environment around the human model using joints and drivers .

Wall with hole

BodyRepository (BRep) for pin!

Model environment
connection Environment model
Human model
Spine model (joints and drivers)
Leg model
Arm and shoulder model

Application

Human + Environment
Model

Body Parts

BRep
Aalborg
Arm3D
Spine
Leg2D
Leg3D
BodyModels

Toolbox

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BRep: Shoulder arm model

The arm block includes the shoulder region and comprises the following
bones: clavicle, scapula, humerus, ulna, radius and a hand segment.

The model is mainly based on data collected by the Dutch Shoulder Group
and made available on the World-Wide Web.
118 muscles on each side.

BRep : Shoulder arm model

Kinematics
AC Spherical joint
Conoid ligament GH Spherical joint
SC Spherical joint
AC
TS Scapula thoracic gliding plane, ellipsoid
AI Scapula thoracic gliding plane, ellipsoid

This gives totally 7 dof. in the shoulder girdle

TS

AI

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Shoulder arm model Kinematics
Pronation/supination
Flexion/extension
Artificial ”glove”
Six artificial rotational muscles, two
on each axis, one in each direction.
Three linear contraints.
Example file: Brep/Aalborg/Arm3D/glove.any
10/27/2005
FE Flexion/estension, revolute joint
PS Pronation/supination,
combination of joints with one
DOF
Wrist Universal joint
An artificial ”glove” has been attatched to
the hand. The glove simulates a realistic
grip strength of the hand when the
environment is connected to the glove
rathar than directly to the hand.
The glove segment is attached to the hand
as shown in the figure.
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Deltoid muscle wrapping

Shoulder References
R. Happee and F.C.T. Van der Helm, The control of shoulder muscles during goal directed movements, an inverse
dynamic analysis, J. Biomechanics, vol. 28, no. 10, pp. 1179-1191, 1995
F.C.T. van der Helm and R. Veenbaas, Modeling the mechanical effect of muscles with large attachment sites:
application to the shoulder mechanism,Journal of Biomechanics, vol. 24, no. 12, pp. 1151-1163, 1991
F.C.T. van der Helm, A finite element musculoskeletal model of the shoulder mechanism, Journal of Biomechanics,
vol. 27, no. 5, pp. 551-569, 1994
F.C.T. van der Helm,Geometry parameters for musculoskeletal modeling of the shoulder system, Journal of
biomechanics Vol. 25 no. 2, pp. 129-144, 1992
Kräfteatlas, Teil1, Datenauswertung statischer aktionskräfte, Schriftenreihe der Bundesanstalt für Arbeitsmedizin,
Forschung Fb 09.004, Berlin 1994, ISBN 3-89429-524-4
Bjarne Laursen, Bente Rona Jensen, Gunnar Németh, Gisela Sjøgaard: A model predicting individual shoulder muscle
forces based on relationship between electromyographic and 3D external forces in static position. Journal of
Biomechanics 31 (1998) 731–739
DirkJan (H.E.J.) Veeger, Bing Yu, Kai Nan An, Orientation of axes in the elbow and forearm for biomechanical
modeling, Proceedings of the first conference of the ISG, 1997
H.E.J Veeger, Bing Yu, Kai Nan An, Orientation of axes in the elbow and forearm for biomechanical modeling.
Proceedings of the First Conference of the ISG
H.E.J. Veeger, Bing Yu, Kai-Nan An and R.H. Rozendal, Parameters for modeling the upper extremity, Journal of
Biomechanics, Vol. 30, No. 6, pp. 647-652, 1997
H.E.J. Veeger, F.C.T. van der Helm, L.H.V. van der Woude, G.M. Pronk and R.H. Rozendal,Inertia and muscle
contraction parameters for musculoskeletal modelling of the shoulder mechanism. Journal of Biomechanics, vol. 24,
no. 7, pp. 615-629, 1991

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Spine model
The spine model comprises sacrum, all
lumbar vertebrae, a rigid thoracic section,
and a total of 158 muscles

Model developed by M. de Zee and L.

Hansen

Segments and joints

• 7 rigid segments
– Pelvis
– 5 lumbar vertebrae
– Thoracic part

• Joints between vertebrae

– 3 dof spherical joint
– Centre of rotation based on
Pearcy and Bogduk (1988)

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Muscles: multifidi

• 19 fascicles on each side

• Based on information by the group of Bogduk

Muscles: erector spinae

• 29 fascicles on each side
• Based on information by
the group of Bogduk

pars thoracis divisions pars lumborum divisions

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Muscles: psoas major

• 11 fascicles on each side

• Insertion on the femur
• Via point on the pelvis
(iliopubic eminence)

Muscles: quadratus lumborum

• 5 fascicles on each side

• Based on information by
Stokes et al. (1999)

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Muscles: abdominal
• Rectus abdominis
• Obliquus externus
• Obliquus internus
• Transversus (not in
picture)

Example file: Brep/Aalborg/Spine/RectusAbodomisRight.any

Kinematics

Abduction adduction

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Kinematics

Extension Rotation

Segments in abdominal model

Five disks each attached to a

vertebra using a spherical joint

Disk 1
Disk 2
Disk 3
Disk 4
Disk 5

Buckle segment

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Assumptions and facts

• Only the transversus muscles can generate
abdominal pressure
• There are no out-of-plane forces on the disks
• The linearization of the volume assumes that the
volume can be idealized as a cylinder.
• When the transversus muscle changes length
the volume measure is affected by a changed
radius

Showcase
This video shows a standing model doing
three different tasks:

1. Flexion/extension
2. Lateral bend
3. Axial twist

Please notice the motion of the five

individual disks and the changes of the
muscle tone.

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Spine rhythm
A Spine rhythm has been implemented.
The rhythm caculates the individual joint
rotations as a function of the 3D angle
between Pelvis and Thorax.

The rhythm removes the necessity for

imposing the movement on each
individual vertebra.

Example file: ARep/Aalborg/BikeModelFullbody/JointsAndDrivers.any

Spine rhythm video

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Spine References
Andersson,E., Oddsson,L., Grundstrom,H.,Thorstensson,A., The role of the psoas and iliacus muscles for stability and
movement of the lumbar spine, pelvis and hip, Scand. J. Med. Sci. Sports,5 (1995) 10-16.

Bogduk,N., Clinical anatomy of the lumbar spine and sacrum, Churchill Livingstone, Edinburgh, 1997.

Bogduk,N., Macintosh,J.E., Pearcy,M.J., A universal model of the lumbar back muscles in the upright position, Spine, 17
(1992) 897-913.

Bogduk,N., Pearcy,M.J., Hadfield,G., Anatomy and biomechanics of psoas major, Clin. Biomech., 7 (1992) 109-119.

Daggfeldt,K., Thorstensson,A., The role of intraabdominal pressure in spinal unloading, J. Biomech., 30 (1997) 1149-
1155.

Daggfeldt,K., Thorstensson,A., The mechanics of back-extensor torque production about the lumbar spine, J. Biomech.,
36 (2003) 815-825.

Heylings,D.J.A., Supraspinous and interspinous ligaments of the human lumbar spine, J. Anat., 125 (1978) 127-131.

Hodges,P.W., Cresswell,A.G., Daggfeldt,K., Thorstensson,A., In vivo measurement of the effect of intra-abdominal

pressure on the human spine, J. Biomech., 34 (2001) 347-353.

Macintosh,J.E., Bogduk,N., The biomechanics of the lumbar multifidus, Clin. Biomech., 1 (1986) 205-213.

Macintosh,J.E., Bogduk,N., 1987 Volvo award in basic science. The morphology of the lumbar erector spinae, Spine, 12
(1987) 658-668.

Spine References
Macintosh,J.E., Bogduk,N., The attachments of the lumbar erector spinae, Spine, 16 (1991) 783-792.
Macintosh,J.E., Bogduk,N., Munro,R.R., The morphology of the human lumbar multifidus, Clin. Biomech., 1 (1986) 196-204.
McGill,S.M., Norman,R.W., Effects of an anatomically detailed erector spinae model on L4/L5 disc compression and shear,
J. Biomech., 20 (1987) 591-600.
Pearcy,M.J., Bogduk,N., Instantaneous axes of rotation of the lumbar intervertebral joints, Spine, 13 (1988) 1033-1041.
Penning,L., Psoas muscle and lumbar spine stability: a concept uniting existing controversies. Critical review and
hypothesis, Eur. Spine J., 9 (2000) 577-585.
Prestar,F.J., Putz,R., Das Ligamentum longitudinale posterius - morphologie und Funktion, Morphol. Med., 2 (1982) 181-
189.
Prilutsky,B.I., Zatsiorsky,V.M., Optimizationbased models of muscle coordination, Exerc. Sport Sci. Rev., 30 (2002) 32-38.
Rasmussen,J., Damsgaard,M., Voigt,M., Muscle recruitment by the min/max criterion – a comparative numerical study, J.
Biomech., 34 (2001) 409-415.
Stokes,I.A., Gardner-Morse,M., Lumbar spine maximum efforts and muscle recruitment patterns predicted by a model with
multijoint muscles and joints with stiffness, J. Biomech., 28 (1995) 173-186.
Stokes,I.A., Gardner-Morse,M., Quantitative anatomy of the lumbar musculature, J. Biomech., 32 (1999) 311-316.

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Leg model
The leg model comprises the following bones:
pelvis, thigh, shank and foot

The hip joint is modeled as a spherical joint,

while the knee and ankle are modeled as
hinge joints.

The leg model has 35 muscle elements.

Thanks to Mark Thompson, Lund University Hospital,

for his help on developing the lower extremity model.

Leg model
A couple of muscles with broad
insertions (like the m. gluteus
maximus) are divided into multiple
individual muscle units to
represent the real geometry and
the mechanical actions of the
muscle.

The parameters of these muscles are mainly based on the data

published by Delp and Maganaris

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Leg References
S. Delp, Parameters for the lower limb, http://isb.ri.ccf.org/data/delp

Maganaris, C. N. In vivo measurement-based estimations of the moment arm in the human tibialis anterior muscle-tendon
unit. Journal of Biomechanics, Vol. 33, pp. 375-379, 2000

Dostal, W. F. and J. G. Andrews. A three-dimensional biomechanical model of hip musculature. Journal of Biomechanics,
Vol. 14, pp. 803-812, 1981.

Herzog, W. and L. J. Read. Lines of action and moment arms of the major force-carrying structures crossing the human
knee joint. Journal of Anatomy. Vol. 182:, pp. 213-230, 1993.

Hintermann, B., B. M. Nigg, and C. Sommer. Foot movement and tendon excursion: an in vitro study. Foot & Ankle
International, Vol. 15, pp. 386-395, 1994

Mandible model

The model is developed by

Mark de Zee
Department of Orthodontics
School of Dentistry
Faculty of Health Sciences
University of Aarhus
Denmark

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The muscles
• Superficial masseter • Superior lateral
• Deep anterior pterygoid
masseter • Inferior lateral
• Deep posterior pterygoid
masseter • Anterior digastric
• Anterior temporalis • Geniohyoid
• Posterior temporalis • Anterior mylohyoid
• Medial Pterygoid • Posterior mylohyoid

(Koolstra and Van Eijden, J. Biomech. in press)

Temporo-mandibular joint
• Mandibular fossa
modelled as a planar
constraint
• 3 rotations plus
translation in
specified plane is
possible (5 DoF)
• Only positive joint
reaction forces
(unilateral constraint)

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Application repository ARep/Aalborg

This slides gives an ArmCurl
overview of the applications
BikeModelFullBody
in the ARep Aalborg BikeSpring
directory branch. BikeModel2D
BikeModel3D
Egress
ARep Gait3D
Gearstick
JumpingJack
Aalborg KneeLoad
LawnMover
PedalDemo
New applications are Pushup
constantly being added. SeatedHuman
StandingModel
StandingModelLift
StandingModelCircumduction
StandingModelMove
WheelChair
WheelTurn

Standing model
The human model is made using the body
collection directory
”BRep/BodyModels/FullBodyModel”
The main file of the model is :
ARep/Aalborg/StandingModel/StandingModel.main
.any

What can the model be used for?

• This is a good starting point for
applications using full body
models, since the posture of the
model is controlled through a
mannequin file.

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Assignment
1. Load the Standing model
2. Use the NoMuscles version
of the body model
3. Specify a posture of your
own choice in the
Mannequin.any file.
4. Apply loads of your own
choice in the Mannequin .any
file
5. Run the analysis and study
the muscle forces.
6. Let’s consider applications
relevant to your projects.
1. Hand cycling
2. Gait

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