Analysis of human torso motion with muscle actuators.

A biomechanical model is devised to analyze the motion of the human torso and estimate the load on the lumbar spine, the contraction forces in the trunk muscles, and the sensory signals between the muscle and the nervous system. A state space formulation of three-dimensional (3D) equations of motion of the human torso is presented with muscle forces as input to the system. At least 3 pairs of skeletal muscles are considered to be necessary for 3D motion of human torso. Functional anatomy of these major muscles of the human trunk are discussed. These muscles as well as their feedback and feedforward sensory paths are modeled by linear viscoelastic components and force generators. Stability of the torso with three pairs of muscles is studied both with muscle spindles inactive (open loop) and active (closed loop). Voluntary point-to-point motion of the torso in three-dimensional space is simulated on a digital computer, employing a dynamic controller, where feedback gains are tuned (programmed) by higher centers of nervous system.