The Use of Inverse Dynamics Solutions in Direct Dynamics Simulations

[+] Author and Article Information
D. W. Risher

University of Minnesota Medical School, Minneapolis, MN 55455

L. M. Schutte

Gillette Children’s Hospital, St. Paul, MN 55102; Orthopaedic Surgery Department, University of Minnesota, Minneapolis, MN 55455

C. F. Runge

Rehabilitation Research and Development Center, Veterans’ Affairs Medical Center, Palo Alto, CA 94304; Mechanical Engineering Department, Design Division, Stanford University, Stanford, CA 94309

J Biomech Eng 119(4), 417-422 (Nov 01, 1997) (6 pages) doi:10.1115/1.2798288 History: Received October 19, 1993; Revised October 17, 1996; Online October 30, 2007


Previous attempts to use inverse dynamics solutions in direct dynamics simulations have failed to replicate the input data of the inverse dynamics problem. Measurement and derivative estimation error, different inverse dynamics and direct dynamics models, and numerical integration error have all been suggested as possible causes of inverse dynamics simulation failure. However, using a biomechanical model of the type typically used in gait analysis applications for inverse dynamics calculations of joint moments, we produce a direct dynamics simulation that exactly matches the measured movement pattern used as input to the inverse dynamic problem. This example of successful inverse dynamics simulation demonstrates that although different inverse dynamics and direct dynamics models may lead to inverse dynamics simulation failure, measurement and derivative estimation error do not. In addition, inverse dynamics simulation failure due to numerical integration errors can be avoided. Further, we demonstrate that insufficient control signal dimensionality (i.e., freedom of the control signals to take on different “shapes”), a previously unrecognized cause of inverse dynamics simulation failure, will cause inverse dynamics simulation failure even with a perfect model and perfect data, regardless of sampling frequency.

Copyright © 1997 by The American Society of Mechanical Engineers
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