ME – 5665: Musculoskeletal Biomechanics

Homework – 5: OpenSim
Kevin Jason

1. There are two degrees of freedom in the model: r_shoulder_elev and r_elbow_flex. There are six
muscles in the model: the Triceps Brachii Long Head (TRIlong), Triceps Brachii Lateral Head
(TRIlat), Triceps Brachii Medial Head (TRImed), Biceps Brachii Long Head (BIClong), Biceps Brachii
Short Head (BICshort), and the Brachialis (BRA). There is only BIClong and TRIlong, which are
biarticular in nature; they affect motion in two joints.

2. Inverse Kinematics determines joint angles by minimizing tracking errors. It also predicts arm
movement based on the degrees of freedom (DOFs). The total squared error is derived from the
previously reported Root Mean Square (RMS) errors and marker discrepancies.

3.

4. The BIClong and BICshort muscles overlap due to the fact that they follow similar routes in the
body and the way they generate force at the elbow. This is also evident from the graphs below,
which indicate how they overlap. The graph is evident because it indicates that the moment
arms of BIClong and BICshort increase in length as the elbow flexes, and they reach their peak at
around 90 to 100 degrees before gradually shortening. The Brachialis (BRA) has a shorter
moment arm compared to the long and short head of the biceps (BIClong & BICshort) and hence
generates less torque. The moment arm is measured in meters and the angle for elbow flexion in
degrees.
 ME – 5665: Musculoskeletal Biomechanics
Homework – 5: OpenSim
Kevin Jason

5. BIClong and BICshort experience the greatest contraction in length since they follow the same
mechanical path during elbow flexion (as demonstrated in question 4) and share the same
insertion point. By calculating the difference between the initial length at 0-degree flexion and
the final length at 130-degree flexion, it is observed that both BIClong and BICshort contract by
the same amount (0.084m). The graph also shows that the Brachialis (BRA) undergoes the least
change in length, as it primarily functions as an elbow flexor. This trend makes sense because all
three muscles shorten as elbow flexion increases from 0 to 130 degrees. This occurs because, as
the elbow bends, the muscles contract to lift the forearm.
 ME – 5665: Musculoskeletal Biomechanics
Homework – 5: OpenSim
Kevin Jason

6. Inverse Dynamics calculates joint moments using known motion data and model properties. It
operates in reverse by taking recorded movements (from Inverse Kinematics results) and
determining the forces needed at each joint to produce those movements.

7.

When plotting the unfiltered data, no filter coordinates were applied. Filtering helps smooth out
small fluctuations while preserving the overall moment curve. It is particularly useful in eliminating
 ME – 5665: Musculoskeletal Biomechanics
Homework – 5: OpenSim
Kevin Jason

noise caused by minor motion tracking errors. Since raw data often contains high-frequency noise,
the unfiltered plot may display noticeable spikes as a result.

8.

The joint moment is measured in Newton-meters (Nm), and time is measured in seconds. Both
moment curves rise progressively with time. The shoulder moment increases and decreases
slightly before increasing more steadily. The elbow moment is somewhat higher, as would be
expected since the major motion happens at the elbow. There is still a movement at the
shoulder, even though the movement is mostly a matter of bending the elbow. This is due to the
fact that the BIClong muscle acts on the shoulder and elbow, placing pressure on the shoulder.
For stability to be achieved, the shoulder muscles have to counter this pressure, and that is why
the shoulder becomes involved in the movement.

9. Static Optimization uses inverse dynamics torques to calculate the muscle forces needed to
generate joint torques. It solves an optimization problem at every time step to distribute
activation among the muscles in an optimal manner. In this case, we used a simple objective
function of 1, i.e., the cost function is linear. The function aims to minimize the sum of muscle
activations. Since we have it set to 1, it will activate fewer muscles at the higher force levels
instead of spreading the force across a great number of muscles.
 ME – 5665: Musculoskeletal Biomechanics
Homework – 5: OpenSim
Kevin Jason

10.

11.

The SI units used in X – axis is seconds and in Y – axis it is Newton.

12. Brachialis and Long Head are the active muscles .The other muscles do not change significantly
since their force and activation are constant throughout the flexion. From the graph, Brachialis is
lengthening, meaning that more force is applied to the muscle for a certain period of time. It
shortens the muscle as a result of the force applied and leads to decreasing force over time.

13. Modifying the objective function leads to significant changes in the plot. Unlike when the
objective function was active, all six muscles now exhibit some level of force. Notably, BICshort
 ME – 5665: Musculoskeletal Biomechanics
Homework – 5: OpenSim
Kevin Jason

(Biceps Short Head) shows a substantial increase in force compared to the results before we got.
This occurs because the muscle forces adjust to achieve minimal muscle activation.
The activation levels of the biceps muscles have decreased, suggesting that the system is
optimizing for minimal muscle activation.