Inverse Dynamics

D. Gordon E. Robertson, Ph.D. School of Human Kinetics University of Ottawa

Inverse Dynamics
Definition

P The process of deriving the kinetics (i.e., forces and moments of force) necessary to produce the kinematics (observed motion) of bodies with known inertial properties (i.e., mass and moment of inertia). P Typically the process is used to compute internal forces and moments when external forces are known and there are no closed kinematic chains.

Two-dimensional Derivation
Step-by-step explanation of derivation

Inverse Dynamics
Kinematic Chains, Segment & Assumptions

The following slides outline the derivation of the equations for determining net forces and moments of force for the two-dimensional case. The three-dimensional case follows the same procedure.

P First divide body into kinematic chains P Next divide chains into segments P Assume that each segment is a rigid body P Assume that each joint is rotationally frictionless

Space Diagram

Segments

Inverse Dynamics
Ordering of Segments

P Start with the terminal segment of a kinematic chain P The ground reaction forces of the terminal segment must be known (i.e., measured) or zero (i.e., free-ended) P If not, use the other end of the chain P If external forces are unknown, measure them, otherwise, you cannot analyze

Inverse Dynamics
Free-body Diagram

P Make a free-body diagram (FBD) of the terminal segment P Rules:

< Add all known forces that directly influence the free-body < Wherever free-body contacts the environment or another body add unknown force and moment < Simplify unknown forces when possible (i.e., does a force have a known direction, can force be assumed to be zero, is surface frictionless)

1.
Draw freebody diagram of foot (a terminal segment)

2.
Add weight vector to free-body diagram at centre of gravity

3.
weight centre of gravity (xfoot, yfoot)
Add ground reaction force at centre of pressure

Fground

centre of pressure (xground, yground)

4.
Add all muscle forces at their points of application

force from triceps surae force from tibialis anterior

bone-onbone forces

5.
Add boneon-bone & force ligament forces & joint joint moment moment of force of force

ligament

Equations are Indeterminant

Too many Unknowns, Too few Equations

Solution
Reduce number of unknowns to three (2D) or six (3D)

P In two dimensions there are three equations of motion, but there are more than three unknown forces (two or more muscles per joint, several ligaments, skin, joint capsule, bone-on-bone (actually cartilage) forces, etc.) P Thus, equations of motion are indeterminant and cannot be solved. P In three dimensions there are six equations but many more than six unknowns.

P The solution is to reduce the number of unknowns to three (or six for 3D) P These are called the net force (Fx, Fy) and the net moment of force (Mz) for 2D or (Fx, Fy, Fz) and (Mx, My, Mz) for 3D

5a.
F
Consider a single muscle force (F) on the foot

5b.
Move muscle force to joint centre (F*)

F* F

5c.
Add balancing force (F*)

F* F F*

5d.
F
Force couple (F, F*) is equal to free moment of force (MFk)

= MF k F*

5e.
Replace couple with free moment

F* MF k

bone-onbone forces

5.
Show all forces again

ligament force

joint moment of force

force and moment from triceps surae

6.
Replace each muscle force with equivalent force and free moment of force

7.
Add all ankle forces and moments to obtain net ankle force and moment of force

Mankle k

Fankle

Fground

force and moment from tibialis anterior

8.
Show complete free-body diagram

Mankle k

Fankle (xankle, yankle)

9.
Show position vectors (rankle , rground)

Mankle k

Fankle (xankle, yankle) rground

Fground mfoot g j centre of pressure (xground, yground)

rankle mfoot g j

Fground

centre of pressure (xground, yground)

Three Equations of Motion for Foot

Newtons Second Law

Moment of Force as Cross Product

Also called Vector Product

Fx = max: Fy = may: Mz = I :

Fx(ankle) + Fx(ground) = max(foot) Fy(ankle) + Fy(ground) mg = may(foot) Mz(ankle) + [rankle Fankle]z + [rground Fground]z = Ifoot (foot)

P the moment of a force (M) is defined as the cross-product (x) of a position vector (r) and its force (F). I.e., M = r x F P Mz = [ r F ]z = rx Fy ry Fx P rankle = (xankle xfoot , yankle yfoot) P [ ... ]z means take the scalar portion in the zdirection

Equations of Motion for Foot

Solve for the Unknowns

Apply Newtons Third Law to Leg

Reaction = Action

Fx = max: Fy = may: Mz = I :

Fx(ankle) = max(foot) Fx(ground) Fy(ankle) = may(foot) Fy(ground) + mg Mz(ankle) = Ifoot (foot) [rankle Fankle]z [rground Fground]z Note, moment of inertia (Ifoot) is about centre of mass of foot, but proximal or distal ends)

P Net force and moment of force at proximal end of ankle causes reaction force and moment of force at distal end of leg P Reactions are opposite in direction to actions P I.e., reaction force = action force reaction moment = action moment

Mknee k

Fknee

Equations of Motion for Leg

Newtons Second and Third Laws

10.
Draw freebody diagram of leg

Fx = max: Fy = may: Mz = I :
Fankle Mankle k

Fx(knee) Fx(ankle) = max(leg) Fy(knee) Fy(ankle) mg = may(leg) Mz(knee) + [rknee Fknee]z Mz(ankle) + [rankle Fankle]z = Ileg (leg)

Equations of Motion for Thigh

Newtons Second and Third Laws

Interpretation
Mathematical concepts not anatomical kinetics

Fx = max: Fy = may: Mz = I :

Fx(hip) Fx(knee) = max(thigh) Fy(hip) Fy(knee) mg = may(thigh) Mz(hip) + [rhip Fhip]z Mz(knee) + [rknee Fknee]z = Ithigh (thigh)

P These forces and moments are mathematical constructs NOT actual forces and moments. P The actual forces inside joints and the moments across joints are higher because of the cocontractions of antagonists. P Furthermore, there is no certain method to apportion the net forces and moments to the individual anatomical structures.