抄録
This paper proposed a fast computation method to estimate muscle tensions of a complex human musculoskeletal model. It basically utilizes the existing inverse dynamics method to solve the quadratic programming considering both mechanical and physiological consistency. The quadratic programming usually needs to compute the gradient of the evaluation function of the optimization. In the proposed method, by making use of the structure of the multi-body systems and the muscle-tendon wires, the gradient can be computed quickly by the combination of inverse dynamics and forward differential kinematics of the system.
