Uncertainty propagation in multibody human model dynamics

Multibody Dynamics Model of a Human Hand for Haptics Interaction

In this paper we propose a strategy for modelling a human hand for Haptics interaction.The strategy consists in a parallel computing architecture that calculates the dynamics of a hand, this is accomplished by computing the dynamics of each finger in a parallel manner. In this approach multiple threads (e.g. haptics thread, graphics thread, collision detection thread, etc.) run concurrently and...

Experiences in Teaching Multibody Dynamics

The use of multibody dynamics software in industrial firms is steadily increasing. Engineering curricula often do not include mandatory courses where multibody dynamics is taught. This paper, after a discussion on some teaching needs in this specific cultural area, reports on the experiences matured by the authors when introducing these courses at two Italian universities.

Iterative Rigid Multibody Dynamics

The simulation of large rigid multibody systems is a challenge. Collisions and friction constraints cause non-smooth motions of the rigid bodies. Differential complementarity problems are therefore used to formulate the dynamical system. The efficient solution of such problems is difficult and the major focus of this thesis. Several modeling choices of varying accuracy and difficulty are presen...

Symbolic Lagrangian Multibody Dynamics

Symbolic Lagrangian formulations of the equations of motion of tree structured constrained mechanical systems have the potential to be both more efficient and more numerically robust than formulations which use nonlinear kinematic constraint equations. We derive a simple recursive factorization of the Lagrangian equations of motion which, along with our extended implementation of the D* symboli...

Dynamics of Multibody Systems