Hi! I want to calculate forces and moments in the knee joint if there are no muscles there. Inverse Dynamics gives me torque in each joint. So having that and having kinematics and ground reaction force how can I get forces acting on joint (or forces/torques transferred by tibia if there is a force/torque sensor was installed) for a robot with motors in each joint moving according to ID calculatons.
Having muscle tendons gives much bigger forces than it would be in case there are just motors in each joint. For example for 72 kg person values for force acting on joint go up to 2700H. And I expect for robot with motors in each joint this value not exceed 1000H during normal gait.