The multibody approach is a methodology used in the analysis and simulation of complex mechanical systems consisting of multiple interconnected rigid bodies with kinematic constraints. Originally employed in mechanical engineering, this methodology has now extended to the biomedical field to study the dynamic behavior of systems composed of multiple interacting components, such as the musculoskeletal system or biorobotic systems. The latter, combining principles of robotics and biomedicine, are inspired by or directly interact with humans in performing their functions. In this context, the course "Multibody in human modeling and biorobotics" aims to provide both theoretical and practical elements of multibody modeling for the study of musculoskeletal systems, useful for the design and evaluation of new medical devices (e.g., joint prosthetics), and for the assessment of robotic systems in dynamic and kinematic terms. Through the planned computational laboratory activities, students will integrate their previous and here developed knowledge of applied mechanics to solve biomechanical and biorobotic applications by creating multibody models. Furthermore, advanced modeling aspects will be explored, including optimization, design of experiments, combined rigid-flexible modeling, and hardware-in-the-loop. The objective of the course is to provide students with the skills to model and design biomechanical and biorobotic systems from a dynamic and kinematic perspective, enhancing their awareness of the potential of the multibody method and its applications in biomedical robotics.

Develop knowledge related to the applications of robotics in the biomedical field; Develop knowledge related to the applications of multibody modeling in the biomedical field; Acquire advanced modeling skills and capabilities to describe any type of multibody system; Develop sensitivity to a new numerical approach, being able to recognize its limitations and potentials, and thus, its correct field of application; Cultivate a critical approach to model passive and active components of a musculoskeletal and robotic system with appropriate simplifications, while also integrating experimental data.

Knowledge in applied mechanics and solid mechanics.

- Biorobotics applications: robot-assisted surgery, bioinspired robotic systems, collaborative robots, exoskeletons, rehabilitation robots, bioinspired and/or physiologically controlled prosthetics. - Introduction to multibody approach applied to human and biorobotic modeling, with an overview of existing software (open-source and commercial). - Topology of multibody system elements. - Rigid bodies: basics of kinematics and dynamics (kinematic and flexible constraints, kinematics and dynamics of points and rigid bodies, orientation of rigid bodies in space). - Contacts in multibody systems. - Active and passive elements in human and biorobotic models. - Modeling of flexible bodies in multibody systems: fundamentals of theory, formulations, and their application in biomechanical applications. - Methodologies for integrating experimental data into multibody models. - Raising complexity in model development and design: system parameterization, optimization algorithms, Design of Experiment (DoE) strategies, hardware-in-the-loop. - Seminars on multibody modeling applications and integrated multilevel methodological approaches in frontier biomechanical research. - Visit and use of a collaborative robot at the PolitoBIOMed Lab.

The course includes 30 hours of classroom lessons and 30 hours of computational lab.

Handouts provided by the instructor and copies of the slides used during the lessons.

Slides; Dispense; Esercitazioni di laboratorio;

Modalità di esame: Prova scritta (in aula); Prova pratica di laboratorio;

Exam: Written test; Practical lab skills test;

... The exam is divided into two parts (which can be taken in different sessions): - The first part of the exam (max 12 points) is conducted in the classroom and lasts forty-five minutes. It consists of open-ended and multiple-choice questions related to the content covered during the classroom lessons. - The second part of the exam (max 18 points) is conducted in a computer lab and lasts two and a half hours. It involves creating a multibody model from a provided geometry and description, solving it, and commenting on the results obtained. The final grade is the sum of the two evaluations, rounded to the nearest whole number.

Gli studenti e le studentesse con disabilità o con Disturbi Specifici di Apprendimento (DSA), oltre alla segnalazione tramite procedura informatizzata, sono invitati a comunicare anche direttamente al/la docente titolare dell'insegnamento, con un preavviso non inferiore ad una settimana dall'avvio della sessione d'esame, gli strumenti compensativi concordati con l'Unità Special Needs, al fine di permettere al/la docente la declinazione più idonea in riferimento alla specifica tipologia di esame.