Human Bipedal Biomechanical Modeling with Maple DynaFlexPro

Rigid body models for human musculoskeletal dynamics, motor control and humanoid robotics are subjects of interest to researchers from various backgrounds. In this study we developed analytical biomechanical model of human sagittal movement using Maple 10 with a new toolbox called DynaFlexPro. We present three models in this research-based study: first, a sagittal plane model with foot segment, lower limb, upper limb and head arm torso (HAT) segments is presented. Later, we extended this model to the bipedal case with two-feet, two lower limbs, two upper limbs, a pelvic junction, and a HAT segment in both 2D and 3 D space. For each model, Maple environment generates nonlinear ODEs in state space formulation, which can be transferred to Matlab for simulation purposes. We simulated these models for human sit-to-stand transfer, and our results indicate the usefulness of this modeling tool for biomechanical movements.