Week 1: Introductory Mechanics – Statics and Dynamics – Basic Principles.
Week 2: The human body as a biomechanical system – basic terminologies – Skeletal Muscles
Week 3: Mechanism of force production in skeletal muscles – Sliding filament theory – Force-length relationship.
Week 4: Biomechanical analysis of joints of upper limb - Shoulder, Elbow, wrist, hand and fingers
Week 5: Biomechanical analysis of joints – Spine, Hip, Knee, Ankle.
Week 6: Analysis of reaching as movement of a multi-link serial chain – forward kinematics, inverse kinematics – D-H parameters –Velocity and Jacobians
Week 7: Mechanics of Hard Tissues – Bone microstructure – properties of bone – Wolff’s law of bone remodelling – Elastic properties and stress-strain relationship – Bending of bones
Week 8: Visco-elastic properties of soft tissues, Models of visco-elasticity: Maxwell, Voight, and Kelvin models – Viscoelasticity in bones.
Week 9: Soft Tissues – Cartilages, ligaments and tendons, Stress-strain relations in tendons – tendon forces and factors affecting tendon properties –Gliding resistance, tendon wrapping and friction forces – enslaving.
Week 10: Introduction to enslavement – Enslaving effects in finger force production (Research paper) – Wrist posture and finger interdependence (Research Paper)
Week 11: Measurement of orientation in 3D space – Rotation matrices – Composite rotation matrix and relative orientation – Complex numbers and quaternions
Week 12: Singularity, Gimbal lock, parameterization – Practical applications – IMU based finger and hand kinematics measurement system – Introduction to stability and Gait analysis.
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