Inverse dynamics

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Inverse dynamics uses link-segment models to represent the mechanical behavior of connected pendulums or the limbs of humans or animals, where given the kinematic representation of movement, inverse dynamics derives the kinetics responsible for that movement.

The field of Biomechanics constitutes the major application area for inverse dynamics. Biomechanics describes what the muscles are doing, particularly the timing of their contractions, the amount of force generated to produce some moment about a joint, and the amount of mechanical work performed by that contraction. The resulting motion can be concentric or eccentric. Muscle kinematics describes these quantities in terms of Newtonian mechanics, specifically the Newton-Euler equations of:

Force equal mass times linear accelleration, and

Moment equals mass times moment of inertia times angular accellerateion.

These equations mathematically model the behavior of a limb in terms of a knowlege domain-independent link-segment model. Inverse dynamics derives the joint movements at each joint and the process used to derive the joint moments at each joint is known as inverse dynamics, so-called because inverse dynamics work backward from the kinematics to derive the kinetics responsible for the motion.

See also

• Kinematics
• Inverse kinematics

References

• Winter DA (1991) The biomechanics and motor control of human gait: normal, elderly and

pathological. University of Waterloo press, Ontario.

• Kirtley C, Whittle MW & Jefferson RJ (1985) Influence of Walking Speed on Gait Parameters

Journal of Biomedical Engineering 7(4): 282-8.

• Jensen RK. Changes in segment inertia proportions between 4 and 20 years. J Biomech.

1989;22(6-7):529-36.

External links

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• [2]

Describes the general case from Newtonian mechanics involving a sequence of connected pendulums.