Modeling and control of dynamical biomechanical arm systems with elastic joints sensitive to the effect of an external load

Abstract

In this study, a biomechanical model mimicking the human hand-arm system under heavy disk excitation is developed to define the stability threshold between the preload vibration and the stress of the human hand-arm system. The fully electromechanical system, consisting of a DC motor, a transmission system, and three discrete masses representing the upper arm, forearm, and hand lifting a heavy disk, is connected by shock absorbers and various springs. The challenge of mimicking the angular activity of the elbow joint in torsion and flexion was also included to assess its contribution to system stability and to study the absorption of mechanical energy in the human hand-arm system. Finally, the movements of the model were described by a differential matrix equation, and its analysis facilitates the understanding of the threshold of the chaotic behaviors observed in an oscillating arms system. Specifically, it explores how the motion of a DC motor can be regulated using a single controller parameter within the context of a multi-degree-of-freedom human hand-arm system. The study uses numerical integrations to analyze system behaviors, with an emphasis on the use of frequency spectra, Poincaré maps, and bifurcation diagrams for visualization and interpretation. The results indicate that the system exhibits chaotic behavior when subjected to certain conditions, particularly when the mass load exceeds 35 kg. Imposing motion on the mass block further intensifies the chaos, leading to manifestations such as strong oscillations and frequency-synchronization effects. These characteristics, exhibited by the idealized model, which imitates the human body through a mechanical model and computation of the motions of the body, play a vital role in various fields of ergonomics and sports biomechanics. Understanding the dynamic behaviors of such systems, especially in response to varying conditions, has significant implications for engineering applications.