On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method

by Antun Skuric, Vincent Padois, Nasser Rezzoug, David Daney
Submitted to RA-L & ICRA2022

A new efficient polytope evaluation algorithm for feasible wrench analysis of the human musculoskeletal models.

This repository consists of

• Paper
  • submitted pdf version of the paper
• Matlab implementation
  • Iterative Convex hull method implementation
  • demo presenting the comparison of three vertex search algorithms for different model sizes
• Python module for calculating human capacity pycapacity_human
  • wrench/force polytope
  • acceleration polytope
  • static optimisation to find the bias muscular forces from specified join torques

Python pycapacity_human module

Python module for calculating force capacity based on the human musculoskeletal model

To obtain the module, the best way is to download it from the link, or by using the terminal:

cd your_project_path
git clone git@gitlab.inria.fr:askuric/pycapacity_human.git

Then you can import it directly as

import pycapacity_human.pycapacity_human as capacity

Module Functions

Polytope calculations:

• polytope_acceleration: A function calculating the polytopes of achievable accelerations
• polytope_force: A function calculating the polytopes of achievable foreces based
• polytope_joint_torques: A function calculating the polytopes of achievable joint torques

Base algorithms:

• iterative_convex_hull_method: A function calculating the polytopes of a form:
• hyper_plane_shift_method: Hyper plane shifting method implementation used to solve problems of a form:

Utility methods:

• torque_to_muscle_force: A function calculating muscle forces needed to create the joint torques tau