Non-Slender n-Link Chain Driven by Single-Joint and Multi-Joint Muscle Actuators: Closed-Form Dynamic Equations and Joint Reaction Forces

The author has derived the closed-form dynamic equations for a planar musculoskeletal chain composed of generic number n rigid links connected by ideal revolute joints. Single-joint and multi-joint muscles have been modeled as linear force actuators that can span from one joint to all joints chain. shape size each individual link accounts different alignments among center mass link, centers rotation articulate with its neighbors, points application muscle forces possible contact external resistances acting on link. torque reaction determined in analytical quantification unique contribution kinematic kinetic variable: (1) single-joint or spanning non-spanning joint; (2) weight chain; (3) position, angular velocity, acceleration results this study be applied multilink chains deep/superficial segmental/global muscles.