Dynamic Control and Simulation of Human Musculo-Skeletal Model

Abstract: In this paper, we propose a dynamic human motion simulator to clarify and obtain the natural movement as human carries out. This system consists of a 3D motion capturing system, which has 6 high-speed cameras, 8 force plates, 10 3-axis accelerometers and 32 EMG sensors. To reconstruct the human s ̉ complex movement in VR space, a dynamic simulation model of human muscle-skeletal body is constructed. This model has 100 segments of born and has totally 105 D.O.F. in whole body, and also 300 muscles are included in this model. These muscles have the properties of sti&ness, damping and contractive force generation. This platform makes it possible for construct human dynamic motion control functions more precisely and is thus useful for bio-mimetic robots. By using the super-redundant human body model, we are studying the brain motor control functions through the dynamic simulations