Human-Robot Biodynamics

Nonlinear complexity of human biodynamics engine

This paper reviews a nonlinear complexity within the Human Biodynamics Engine (HBE), a world-class human neuro-musculoskeletal simulator, developed at the Department of Defense, Australia. The HBE development is based on an anthropomorphic tree of Euclidean motion groups SE(3), with 270 active degrees of freedom, realistic muscular mechanics and hierarchical neural-like control. The HBE is form...

Generalized Hamiltonian Biodynamics and Topology Invariants of Humanoid Robots

∞−Dimensional Cerebellar Controller for Realistic Human Biodynamics

In this paper we propose an ∞−dimensional cerebellar model of neural controller for realistic human biodynamics. The model is developed using Feynman’s action– amplitude (partition function) formalism.

Recent advances in biodynamics of human hand-arm system.

The biodynamics of human hand-arm system is one of the most important foundations for the measurement, evaluation, and risk assessment of hand-transmitted vibration (HTV) exposure. This paper presents a new conceptual model relating factors influencing cause-effect relationships for HTV exposure, a new study strategy, and a comprehensive review of the recent advances in the biodynamics closely ...

$\infty-$Dimensional Cerebellar Controller for Realistic Human Biodynamics

In this paper we propose an ∞−dimensional cerebellar model of neural controller for realistic human biodynamics. The model is developed using Feynman’s action– amplitude (partition function) formalism. The cerebellum controller is acting as a supervisor for an autogenetic servo control of human musculo–skeletal dynamics, which is presented in (dissipative, driven) Hamiltonian form. The ∞−dimens...