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Modeling of The Snatch Weightlifting: July 2010
Modeling of The Snatch Weightlifting: July 2010
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M. H. Korayem
Iran University of Medical Sciences
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Abstract
Weightlifting has been the subject of research among world scholars since a long time ago. Previous research
mainly focused on biomechanical and kinesiological aspects, whereas in recent years, simulation of
weightlifting motion has come to the forefront. However, there is an evident lack of data on modeling and
simulation of this motion from biomechanical and robotic aspects.
In this paper, snatch technique of weightlifting has been modeled from a biomechanical perspective, which
includes physical joint constraints, muscle strength and the typical snatch technique; and by applying the
proposed model it is possible to model the motion, from start to finish in a given time, for an athlete of known
weight and stature, and present the suitable optimum motion as output. Using motion analysis equipment and
comparison of athlete’s motion with that of the model, we can improve the performance of novice athletes to
prepare them for medal attainment in competitions. The model output accurately replicates the biomechanical
details such as the new elite athletes’ technique – double knee bending in which the knee initially extends and
then flexes so as to reduce the reaction torque and hence decreasing injury risks. The weightlifting robot has
been modeled with a Lie algebraic formulation and the resultant problem is solved as a parameter constrained
optimal control problem.
Keywords: Snatch, Weightlifting, Optimal Control, Lie Algebra, Double Knee Bending
Figure 1: The phases of the snatch: (a) the first pull, (b) transition
from the first to the second pull, (c) the second pull,
(d) turnover under the barbell, (e) the catch phase, (f)
rising from the squat position.
relationship was modeled using a three parameter Third and fourth terms of cost function (8) represent
function for high concentric velocities. The product minimum and maximum vertical height of barbell in
of these two functions gave a seven parameter the whole motion, respectively. Minimum vertical
function which best models the torque/angular height of barbell, min(bary ( P ) ), should be greater
velocity, therefore we used this model and extended than vertical height at the start point bar0 ( P ) and
it for other muscles.
any difference also penalizes in exponential form.
Control constraints term is used for the inequalities
Decreasing the cost function with maximum vertical
defining limitation on torques acting on the system
height of the barbell, results in more extension of
and the redundancy of degrees of freedom in order
body during snatch lift.
to (i) provide a continuous motion (ii) limit the
motion by human’s joints and torques boundaries expHF = (c5 .(max(τ hip ) / max(τ ankle ) − r1 )) 4 + 1 (11)
(iii) minimize the proposed cost function from a
biomechanical point of view. Therefore an optimal expHK = (c6 .(max(τ hip ) / max(τ ankle ) − r2 )) 4 + 1 (12)
control problem is formulated. We aim to generate
3
Double knee bending (DKB) technique indicates in between the first and the second pull. Figure 4
equation (11) and (12). Since applying torque on shows the diagram of the vertical barbell velocity
knee joint is 3 times less than on hip and is which changes with the time during snatch lift. It
regardless to weight of athlete and barbell, expert can be observed here that vertical velocity first
weightlifters use this technique to reduce the increases and decreases when the barbell is moving
reaction torque and hence decrease injury risks. r1 toward the final position.
and r2 coefficients are obtained from experimental
data and ci coefficients used to equal terms of cost
function. Eliminating these coefficients result in
ignoring the lower order terms.
3. RESULTS
References