Abstract: For the multibody simulation of planetary rover operations, a wheel–soil contact model is necessary to represent the forces and moments between the tire and the soft soil. A novel nonlinear contact modeling approach based ...

Abstract: Friction is an important part of many dynamic systems, and, as a result, a good model of friction is necessary for simulating and controlling these systems. A new friction model, designed primarily for optimal control and ...

Abstract: Robotic leg prostheses and exoskeletons have traditionally been designed using highly-geared motor-transmission systems that minimally exploit the passive dynamics of human locomotion, resulting in inefficient actuators ...

Abstract: In this paper, a novel method is proposed for the determination of the optimal subject-specific placement of knee implants based on predictive dynamic simulations of human movement following total knee arthroplasty (TKA). ...

Abstract: The proper orthogonal decomposition (POD) is employed to reduce the order of smallscale automotive multibody systems. The reduction procedure is demonstrated using three models of increasing complexity: a simplified dynamic ...

Abstract: This study presents a 2D gait model that uses global parameterization within an optimal control approach and a hypervolumetric foot contact model. The model is simulated for an entire gait stride, i.e., two full steps. ...

Abstract: A graphtheoretic formulation to perform sensitivity analysis on multibody systems is presented in this article. In this formulation, linear graphs are used to capture the system topologies from which a graphtheoretic ...

Abstract: The theoretical framework for constructing a fully mechanistic multibody dynamic model of a vertical piano action is described, and its general validity is established. Equations of motion are derived symbolically using a ...

Abstract: Forward dynamic simulations of a periodic forearm motion were developed in order to explore the efficiency of using a Fourierseriesbased parameterization function for muscle excitations within dynamic optimization. The ...

Abstract: The purpose of this work is twofold: first, to synthesize a motion pattern imitating sit-to-stand (STS) and second, to compare the kinematics and dynamics of the resulting motion to healthy STS. Predicting STS in simulation ...