Mathematical modelling and control of human skeletal dynamics

Neuroprostheses are devices that may restore motor function to the paralysed by artificially activating skeletal muscle. The design of controllers for these devices is greatly facilitated by mathematical models for the system to be controlled. However, human muscle and skeletal dynamics possess a variety of properties, making them difficult both to model and to control. Recently developed mathematical models of human muscle and musculoskeletal dynamics are outlined in this article. The insight provided by such models into system behaviours, their use in designing neuroprosthetic control strategies and an animation tool used to visualise the effectiveness of controllers for sit-to-stand transfer in paraplegic individuals are presented