Skip to main content

Research Repository

Advanced Search

Simulation of muscle-powered jumping with hardware-in-the-loop ground interaction

Eberhard, E A; Richards, C T


E A Eberhard

C T Richards


We developed a novel reverse haptic interface to augment forward dynamic simulations with real-world contact forces. In contrast with traditional haptics, in which a realworld user drives an interaction with a simulated environment, reverse haptics allows a simulated mechanism to probe the realworld environment through a force-sensing robotic manipulator. This method can implicitly extend computer models of biomechanics and robotic control with complex ground interactions. A 3-DoF manipulator and a biologically inspired musculoskeletal
model were developed to test jumping performance on a diverse range of real-world substrates. Jumps were of similar height despite differences in material properties and no active muscle control. Muscle power was lower at the hip, yet total muscle work was higher, against compliant surfaces compared to stiff surfaces. Through reverse haptics, the forces of actuation, inertia and contacts could be measured simultaneously to reveal how intrinsic muscle properties may compensate for substrate


Eberhard, E. A., & Richards, C. T. (2018). Simulation of muscle-powered jumping with hardware-in-the-loop ground interaction.

Journal Article Type Article
Acceptance Date Sep 1, 2018
Publication Date Sep 29, 2018
Deposit Date Sep 4, 2018
Publicly Available Date Sep 3, 2019
Journal 2018 IEEE International Conference on Advanced Intelligent Mechatronics
Peer Reviewed Peer Reviewed
Pages 201-206
Public URL