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