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1. Link Segment Model Joint Reaction Forces
2. Newtons Laws of Motion Law of Inertia: A body at rest stays at rest and a body in motion stays in motion unless acted upon by a force or torque.
Law of Acceleration: The acceleration a body experiences is directly proportional to the force or torque, inversely proportional to the mass or moment of inertia and occurs in the direction of the force or torque.
Law of Reaction: For every action there is an opposite reaction.
3. Newtons First Law: Law of Inertia
4. Moment of Inertia (I)
5. Link Segment Model Assumptions Each segment has a fixed mass located at its center of mass
The joints are considered as hinge joints
The moment of inertia is fixed during movement
The length of each segment is constant
6. Input Information to Solve for Joint Forces and Torques Mass & moment of inertia of each segment.
Location of each segments Center of Mass (CM).
Position, velocity, acceleration of each segments CM (x, y, Vx, Vy, Ax, Ay).
Angular position, velocity, acceleration about each segments CM (T, ?, a).
External forces for all contact points.
Center of pressure or location of external forces acting on the body.
7. Inverse Dynamics: Finding Forces & Torques from Position Data. [working backward to solve for forces & torques]
8. Anatomical Relationship
9. Forces & Torques Acting On Each Segment
10. Joint Moments