Generating Symbolic Motion Equations of Multibody Systems 

Geometric features of human joints can play an important role in posture control and joint diseases like knee arthritis. Shape of surfaces that are in contact with each other, affects movement and force distribution patterns. However, most musculoskeletal modeling studies assume human joints as a perfect one.
The aim of this study was deriving symbolic motion equations of rigid multi-body systems with imperfect joints. A solver code developed in Matlab, calculates equations of motion using Lagrange Method needing mass, COM, joint coordinates and inertia of each segment as its inputs.