COMPARATIVE STUDIES OF FORMULATING THE DYNAMICS OF RIGID-BODY SYSTEMS USING MACSYMA - A CASE STUDY.

In many fields, such as robotics and biomechanics of human motion, the multi-body model is commonly used to describe the dynamics of the system. This particular application was motivated by current work (at the Veterans Administration Medical Center, Cleveland OH) to restore gait in paraplegics through controlled, externally generated electrical stimulation of muscles. The purpose of this investigation was to compare, on the basis of computational efficiency, formulations of the equations of motion.