Application of optimization principles in determining the applied moments in human leg joints during gait

Chao, Edmund Yee-Su; Rim, Kwan

doi:10.1016/0021-9290(73)90008-0

Cited by 114 publications

(51 citation statements)

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“…An interesting comparison is between the static optimization method and a dynamic optimization method such as that proposed by Chao & Rim (1973). These methods differ in the fact that the method proposed here utilizes the equations of motion merely as algebraic equations at each point in time, but the dynamic optimization method recognizes their true utility as differential equations which place constraints over time.…”

Section: Discussionmentioning

confidence: 99%

“…This method indirectly improves inverse dynamics computations by providing better parameter values and enforcing the boundary conditions, but does not otherwise affect the joint torque estimates. Perhaps the most sophisticated approach is to use dynamic optimization to compute the trajectory of joint torques which in a forward simulation best reproduces the observed motion (Chao & Rim, 1973). This method enforces the dynamical equations of motion over time, and thus may be regarded as a theoretically ideal method for estimating joint torques.…”

Section: Introductionmentioning

confidence: 99%

“…An initial guess will only work for unstable systems if it is exceedingly accurate, or if the time period of the analysis is too short to allow for divergence. For example, Chao & Rim (1973) demonstrated the use of dynamic optimization for 0.17 s of a step in human gait. Even when a suitable initial guess is found, the iterative methods for optimization a solution pose a heavy computational burden.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Least-Squares Estimation Approach to Improving the Precision of Inverse Dynamics Computations

Kuo

1998

Journal of Biomechanical Engineering

161

118

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Abstract:The conventional method for computing inverse dynamics has several disadvantages. In the presence of noisy measurements, it produces poor results when less than a full complement of ground reaction forces is measured. It often results in a residual torque acting on the top-most body segment, and is especially sensitive to misalignment between the force plate and motion analysis coordinate frames. These difficulties may be overcome using a least squares estimation method, which tends to reject random noise in the measurements. The result is an estimate of the joint torques and joint angular accelerations which best match measured data. An error analysis makes it possible to predict error magnitudes for both conventional and least squares methods. A benchmark case is presented, which demonstrates reductions in joint torque errors on the order of 30%, for a wide range of noise levels on force plate and kinematics measurements. The method also is computationally fast and relatively robust to missing force measurements and biases such as misalignment of coordinate frames.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Least-Squares Estimation Approach to Improving the Precision of Inverse Dynamics Computations

Kuo

1998

Journal of Biomechanical Engineering

161

118

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“…Estimating the trajectories of joint torques using this method is practical as the method applies a forward simulation to reproduce a best observed motion (Chao and Rim 1973). A major disadvantage of dynamic optimisation is that it is more expensive computationally (Yamaguchi and Zajac 1990), and hence has led to solutions for walking being greatly simplified.…”

Section: Introductionmentioning

confidence: 99%

Analysing Human Walking Using Dynamic Optimisation

Tan

Jennings

Wang

2015

Optimization Methods, Theory and Applications

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A mathematical model to simulate human walking motions and study the dynamics behind walking is developed which is adjustable to accommodate different cases such as the single and double support phases of walking. We first propose a technique for estimating joint moments and position coordinates of body segments using the method of inverse dynamics. The estimates are then used as initial joint torques for solving the model as an optimal control problem with the setup of appropriate objective functions and constraints. Numerical experiments on the developed model and solution technique have been performed and the numerical results show that the model is able to replicate human walking motions and the optimal joint torques can be calculated to produce the resulting motions.

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“…and Seireg (1972), Chao and Rim (1973), Cappozo and Pedotti I (1973), Townsend and Wsai (1976), Aleshinsky and Zatsiorsky i (1978), and Hardt and Mann (1980). Direct solutions o_the motion equations include a model by Nubar and Contini (1961), who !…”

Section: Models Of the Lower Extremlt|esmentioning

confidence: 99%

Ergonomic Models of Anthropometry, Human Biomechanics and Operator-Equipment Interfaces

Kroemer

Snook²,

Meadows³

et al. 1988

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The principal objectives of the committee are to provid_ new perspectives on theoretical and methodological issues, to identify basic research needed to expand and strengthen the scientific basis of human factors, and to attract scientists both within and outside the field for ' interactive communication and to perform needed research. The goal of the committee is to provide a solid foundation of research as a base on which effective human factors practices can build.Human factors issues arise in every domain in which humans interact with the products of a technological society. In order to perform its role effectively, the committee draws on experts from a wide range of scientific and engineering disciplines. Members of the committee include specialists in such fields as psychology, engineering, biomechanics, physiology, medicine, cognitive sciences, machine intelligence, computer sciences, sociology, education, and human factors engineeringe'Other disciplines are represented in the working groups, workshops, and symposia.Each of these :; contributes to the basic data, theory, and methods required to :ii improve the scientific basis of human factors. Thls work relatesto Department of the Navy Grant N00014-85-G-0093 issued by the Officeof Naval Research under Contract Authorlty NR 196-167. However, the content does not necessarilyreject the positionor the policyof the Gover.iment, and no official endorsement should be inferred.The United States Government has at least a royalty-free, nonexcJuslve and irrevocable l[ce:tse throughout the world for government purposes to publlsh, tr;,nslate, reproduce, dr[iver,perform, dispose of, _ud to authoriseothers sc _ to do, allor ,_ny portmn _f this work. [1984][1985][1986][1987] iv ForewordThe Committee on Human Factors was established in October 1980 by the Commission on Behavioral and Social Sciences and Education of the National Research Council. The committee is sponsored by the Office of Naval Research, the Air Force Office of Scientific Research, the Army Research Institute for the Behavioral and Social Sciences, the National Aeronautics and Space Administration, and the National Science Foundation. The principal objectives of the committee are to provide new perspectives on theoretical and methodological issues, to identify basic research needed to expand and strengthen the scientific basis of human factors, and to attract scientists both within and outside the field for interactive communication and to perform needed research. The goal of the committee is to provide a solid foundation of research as a base on which effective human factors practices can build.Human factors issues arise in every domain in which humans interact with the products of a technological society. In order to perform its role effectively, the committee draws on experts from a wide range of scientific and engineering disciplines. Members of the committee include specialists in such fields as psychology, engineering, biomechanics, physiology, medicine, cognitive sciences, machine intelligence...

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Application of optimization principles in determining the applied moments in human leg joints during gait

Cited by 114 publications

References 3 publications

A Least-Squares Estimation Approach to Improving the Precision of Inverse Dynamics Computations

A Least-Squares Estimation Approach to Improving the Precision of Inverse Dynamics Computations

Analysing Human Walking Using Dynamic Optimisation

Ergonomic Models of Anthropometry, Human Biomechanics and Operator-Equipment Interfaces

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