MUSCLE WRAPPING

Muscoloskeletal geometry
1. Modeling the Paths of Muscolotendinous Actuators
2. Obstacle Set Method

1. Modeling the Paths of Muscolotendinous Actuators

Two different methods are used to model the paths of musculotendinous actuators

Straigth-line method
(Jensen and Davy, 1975)

Centroid-line method
(Jensen and Davy, 1975)

The path of a musculotendinous

actuator (muscle and tendon
combined) is represented by a
straight line joining the
centroids of the tendon
attachment sites

The path of the

musculotendinous actuator is
represented as a line passing
through the locus of crosssectional centroids of the
actuator

easy to implement
X useless results when a muscle
wraps around a bone or
another muscle

the actuators line of action is

represented more accurately
in this way
X the centroid-line method can
be difficult to apply

1. Modeling the Paths of Muscolotendinous Actuators

Two different methods are used to model the paths of musculotendinous actuators

Straigth-line method
(Jensen and Davy, 1975)

Centroid-line method
(Jensen and Davy, 1975)

The path of a musculotendinous

actuator (muscle and tendon
combined) is represented by a
straight line joining the
centroids of the tendon
attachment sites

The path of the

musculotendinous actuator is
represented as a line passing
through the locus of crosssectional centroids of the
actuator

easy to implement
X useless results when a muscle
wraps around a bone or
another muscle

the actuators line of action is

represented more accurately
in this way
X the centroid-line method can
be difficult to apply

1. Modeling the Paths of Muscolotendinous Actuators

Two different methods are used to model the paths of musculotendinous actuators
a) straight-line method
b) centroid-line method

The centroid-line method can be difficult to apply:

1) it may not be possible to obtain the locations of
the actuators cross-sectional centroids for even
a single position of the body
2) even if an actuators centroid path is known for
one position of the body, it is practically
impossible to determine how this path changes
as body position changes

1. Modeling the Paths of Muscolotendinous Actuators

Two different methods are used to model the paths of musculotendinous actuators
Via points at specific locations along the centroid path
a) straight-line method
of the actuator
b) centroid-line method
(Brand et al., 1982; Delp et al., 1990)

The centroid-line method can be difficult to apply:

1) it may not be possible to obtain the locations of
the actuators cross-sectional centroids for even
a single position of the body
2) even if an actuators centroid path is known for
one position of the body, it is practically
impossible to determine how this path changes
as body position changes

In this approach, the actuators line of action is defined

by either straight-line segments or a combination of
straight-line and curved-line segments between each
set of via points.
The via points remain fixed relative to the bones even
as the joints move, and muscle wrapping is taken into
account by making the via points active or inactive,
depending on the configuration of the joint
this method works quite well when a muscle spans a
1-dof hinge joint
X it can lead to discontinuities in the calculated values
of moment arms when joints have more than 1
rotational dof

1. Modeling the Paths of Muscolotendinous Actuators

Two different methods are used to model the paths of musculotendinous actuators
a) straight-line method
Via points at specific locations along the centroid path
of the actuator
b) centroid-line method
(Brand et al., 1982; Delp et al., 1990)

The centroid-line method can be difficult to apply:

1) it may not be possible to obtain the locations of
the actuators cross-sectional centroids for even
a single position of the body
2) even if an actuators centroid path is known for
one position of the body, it is practically
impossible to determine how this path changes
as body position changes

Obstacle-Set Method
(Garner and Pandy, 2000)
This method idealizes each musculotendinous
actuator as a frictionless elastic band that can slide
freely over the bones and other actuators as the
configuration of the joint changes.
The musculotendinous path is defined by a series of
straight-line and curved-line segments joined together
by via points, which may or may not be fixed
relative to the bones

 Methods Comparison

Fig.1

 Obstacle-Set Method
The locations of the attachment sites
of the muscle and the locations and
orientations of the obstacles were
chosen to reproduce the centroid
paths of each portion of the modeled
muscle.
Because the path of a muscle is not
improperly constrained by contact
with neighboring muscles and bones,
the obstacle-set method produces:
accurate estimates of muscle
moment arms
smooth moment armjoint angle
curves, as illustrated in Fig.1

 Muscle moment arms

Muscles develop forces and cause rotation of the bones about a joint.
Moment arm: describes the tendency of a muscolotendinous actuator
to rotate a bone around a joint.
Two methods are commonly used to measure the moment arm of an
actuator:
1. the geometric method
2. the tendon excursion method

 Muscle moment arms

1. The geometric method (Jensen and Davy, 1975)
The finite center of rotation is found by x-rays, CT, or Magnetic
Resonance Imaging
The moment arm is found by measuring the perpendicular distance
from the joint center to the line of action of the muscle

 Muscle moment arms

2. The tendon excursion method (An et al., 1983)
The change in length of the musculotendinous actuator is measured
as a function of the joint angle
The moment arm is obtained by evaluating the slope of the actuatorlength versus joint-angle curve over the full range of joint movement

 Muscle contraction dynamics

Modeling contraction dynamics
An empirical model, proposed by A.V. Hill, is used in virtually all models of
movement to account for the force-length and force-velocity properties of muscle
(Hill, 1938).
In a Hill-type model, muscles force-producing properties are described by four
parameters (Zajac, 1989):
muscles peak isometric force, F0m
its corresponding fiber length, l0m
pennation angle,
the intrinsic shortening velocity of muscle, vmax

 Muscle contraction dynamics

F0m is usually obtained by multiplying muscles physiological cross-sectional area
by a generic value of specific tension.
Values of optimal muscle fiber length, l0m, and , the angle at which muscle fibers
insert on tendon when the fibers are at their optimal length, are almost always
based on data obtained from cadaver dissections (Freiderich and Brand, 1990).
vmax is often assumed to be muscle independent; for example, simulations of
jumping (Pandy et al., 1990), pedaling (Raasch et al., 1997), and walking
(Anderson and Pandy, 2001b) assume a value of vmax = 10 s-1 for all muscles,
which models the summed effect of slow, intermediate, and fast fibers (Zajac,
1989).

 Muscle contraction dynamics

Tendon is usually represented as elastic (Pandy et al., 1990; Anderson and Pandy,
1993).
Even though force varies nonlinearly with a change in length as tendon is stretched
from its resting lST length, a linear force-length curve is sometimes used (Anderson
and Pandy, 1993).
This simplification will overestimate the amount of strain energy stored in tendon,
but the effect on actuator performance is not likely to be significant, because
tendon force is small in the region where the force-length curve is nonlinear.

 Muscle contraction dynamics

For the actuator shown in Fig.2, musculotendon dynamics is described by a single,
nonlinear, differential equation that relates musculotendon force (FMT),
musculotendon length (lMT), musculotendon shortening velocity (vMT), and muscle
activation (am) to the time rate of change in musculotendon force:

MT

f(FMT, lMT, vMT,

am),

m
0a 1,

(1)

Given values of FMT, lMT, vMT, and am at one instant in time, Eq. (1) can be integrated
numerically to find musculotendon force at the next instant.

 Muscle contraction dynamics

Fig.2 Schematic diagram of a model commonly used to simulate musculotendon actuation.

 Muscle contraction dynamics

Each musculotendon actuator is
represented as a three-element
muscle in series with an elastic
tendon.
The mechanical behavior of muscle is
described by:
a Hill-type contractile element (CE)
that models muscles force-lengthvelocity property
a series elastic element (SEE) that
models muscles active stiffness
a parallel-elastic element (PEE) that
models muscles passive stiffness.

 Muscle contraction dynamics

The instantaneous length of the

actuator is determined by the length
of the muscle, the length of the
tendon, and the pennation angle of
the muscle.
In this model the width of the muscle
is assumed to remain constant as
muscle length changes.

1. Ricostruzione Mesh 3D

2. Confronto lunghezza elica-arco cilindro

a) Cambio sistema di riferimento

close all
clear all
clc
A=[0,0,0;0,0,0;0,0,0];
tol=10^(-14);
a0=[1;1;1]
b0=[1;2;1]
c0=[0;2;3]
a1=[2.612372436;0.387627564;1.5]
b1=[2.862372436;1.137627564;2.11237243
6]
c1=[3.337117307;0.337117307;3.724744872]
% a0=[1;1;7]
% b0=[4;7;1]
% c0=[7;10;10]
% a1=[7;1;7]
% b1=[3;9;6]
% c1=[10;10;13]
d=([a1-a0,b1-b0,c1-c0])'
u=inv(d)*[1;1;1]
uu=u/(sqrt((u(1))^2+(u(2))^2+(u(3))^2)

u_emi=[0,-uu(3),uu(2);uu(3),0,-uu(1);uu(2),uu(1),0]
h1=u_emi*(a0-b0)
h2=u_emi*(a1-b1)
c=(((h1)')*h2)/((norm(h1))*(norm(h2)))
theta=acos(c)
A=[(uu(1)^2)*(1-c)+c,
(uu(1)*uu(2))*(1-c)-uu(3)*sin(theta),
(uu(1)*uu(3))*(1-c)+uu(2)*sin(theta);
(uu(1)*uu(2))*(1c)+uu(3)*sin(theta),
(uu(2)^2)*(1-c)+c,(uu(2)*uu(3))*(1-c)
uu(1)*sin(theta);
(uu(1)*uu(3))*(1-c)-uu(2)*sin(theta),
(uu(2)*uu(3))*(1-c)+uu(1)*sin(theta),
(uu(3)^2)*(1-c)+c]

2. Confronto lunghezza elica-arco cilindro

b) Calcolo parametri elica

close all
clear all
clc
% x1=0.02236068
% y1=0.01118034
% z1=0.10
% x2=0.00928477
% y2=0.02321192
% z2=0.15
% t1=atan(y1/x1)
% t2=atan(y2/x2)
% c=((z1-z2)/(t1-t2))
% k=z1-((z1-z2)/(t1-t2))*t1
% x1=-0.01345541
% y1=0.02107017
% z1=0.16494454
% x2=0.02491081
% y2=0.0021099
% z2=0.11129092
% t1=atan(y1/x1)
% t2=atan(y2/x2)

% c=((z1-z2)/(t1-t2))
% k=z1-((z1-z2)/(t1-t2))*t1
% x1=1.94448291*10^(-3)
% y1=14.87343223*10^(-3)
% z1=66.39059567*10^(-3)
% x2=-14.02379309*10^(-3)
% y2=-5.32289651*10^(-3)
% z2=64.55098222*10^(-3)
x2= 14.02379309*(10^(-3))
y2= -5.32289651*(10^(-3))
z2= 63.44430452*(10^(-3))
x1= 1.94448292*(10^(-3))
y1= 14.87343223*(10^(-3))
z1= 76.86365141*(10^(-3))
t1=atan(y1/x1)
t2=atan(y2/x2)
c=((z1-z2)/(t1-t2))
k=z1-((z1-z2)/(t1-t2))*t1

2. Confronto lunghezza elica-arco cilindro

c) Confronto lunghezza

close all
clear all
clc
a=1;
b=-1;
c=2;
d=-3;
theta = 0:0.1:pi/2;
plot3(cos(theta),sin(theta),(a*cos(theta)+b*sin(theta)+d)/c)
view(135,30)
grid on
box on
f = @(theta) sqrt(sin(theta).^2 +
cos(theta).^2 + ((a*sin(theta)+b*cos(theta))/(c)).^2);
len1 = integral(f,0,pi/2)
hold on
x1=1
y1=0
z1=1
x2=0
y2=1
z2=2

t1=atan(y1/x1)
t2=atan(y2/x2)
c=((z1-z2)/(t1-t2))
k=z1-((z1-z2)/(t1-t2))*t1
r = 1;
t = t1:0.01:t2;
x = r*cos(t);
y = r*sin(t);
z = c*t+k;
figure(1)
plot3(x, y, z);
grid on
xlabel('x'); ylabel('y');
title('Circula helix');
f = @(t) sqrt((sin(t)).^2 +
(cos(t)).^2 + (c).^2);
len2 = integral(f,t1,t2)
len1
len2
diff1=(abs(len1-len2))/(len2)
diff=diff1*100

3. Confronto wrapping sfera-cilindro

Errore relativo sfera-lunghezza esatta, cilindro-lunghezza esatta

3. Confronto wrapping sfera-cilindro

Errore relativo sfera-lunghezza esatta, cilindro-lunghezza esatta

3. Confronto wrapping sfera-cilindro

Lunghezza esatta

4. Problema della retta dazione

5. Soluzione proposta

Bisogna distinguere tra:

I.

il problema della determinazione del raggio del cilindro/sfera

ottimo, che meglio approssima landamento della lunghezza del
sistema muscolo-tendine precedentemente calcolato come la
lunghezza minima che unisce il punto di Origine e di Inserzione

II. il problema della determinazione del numero di sferette da

utilizzare nella simulazione dinamica al fine di ottenere valori
omogenei in termini di forza di reazione su ciascuna molla, in
quanto lattenzione sulla compenetrazione del cilindro da parte
della retta dazione che collega le singole sferette

Bisogna distinguere tra:

I.

il problema della determinazione del raggio del cilindro/sfera

ottimo, che meglio approssima landamento della lunghezza del
sistema muscolo-tendine precedentemente calcolato come la
lunghezza minima che unisce il punto di Origine e di Inserzione

Confrontare i risultati ottenuti con raggi differenti, trovare il

raggio che minimizza lerrore relativo, proporre un criterio che
possa essere replicabile su ciascun modello patient-specific

Bisogna distinguere tra:

II. il problema della determinazione del numero di sferette da
utilizzare nella simulazione dinamica al fine di ottenere valori
omogenei in termini di forza di reazione su ciascuna molla, in
quanto lattenzione sulla compenetrazione del cilindro da parte
della retta dazione che collega le singole sferette

e.g. possibile utilizzare una sola sferetta per i segmenti con

angolo relativo di 180 gradi, si rendono necessarie 4-5-6-7-8
sferette per un angolo di 45 gradi