Bioptim, a Python Framework for Musculoskeletal Optimal Control in Biomechanics

Michaud, Benjamin; Bailly, François; Charbonneau, Eve; Ceglia, Amedeo; Sanchez, Lea; Begon, Mickaël

doi:10.1109/tsmc.2022.3183831

Cited by 7 publications

(2 citation statements)

References 41 publications

(59 reference statements)

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“…One can use the Rigid Body Dynamics Library (RBDL; Felis, 2017 ) with MUSCOD-II (Leineweber et al, 2003 ) to solve multi-phase OCPs. Another available library that can solve multi-phase OCPs with the direct multiple-shooting method is bioptim (Michaud et al, 2023 ). It is open-source and utilizes biorbd (Michaud and Begon, 2021 ) and CasADi (Andersson et al, 2019 ) to perform optimization problems through a Python interface.…”

Section: Methodsmentioning

confidence: 99%

Can lower-limb exoskeletons support sit-to-stand motions in frail elderly without crutches? A study combining optimal control and motion capture

Lau,

Mombaur

2024

Front. Neurorobot.

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With the global geriatric population expected to reach 1.5 billion by 2050, different assistive technologies have been developed to tackle age-associated movement impairments. Lower-limb robotic exoskeletons have the potential to support frail older adults while promoting activities of daily living, but the need for crutches may be challenging for this population. Crutches aid safety and stability, but moving in an exoskeleton with them can be unnatural to human movements, and coordination can be difficult. Frail older adults may not have the sufficient arm strength to use them, or prolonged usage can lead to upper limb joint deterioration. The research presented in this paper makes a contribution to a more detailed study of crutch-less exoskeleton use, analyzing in particular the most challenging motion, sit-to-stand (STS). It combines motion capture and optimal control approaches to evaluate and compare the STS dynamics with the TWIN exoskeleton with and without crutches. The results show trajectories that are significantly faster than the exoskeleton's default trajectory, and identify the motor torques needed for full and partial STS assistance. With the TWIN exoskeleton's existing motors being able to support 112 Nm (hips) and 88 Nm (knees) total, assuming an ideal contribution from the device and user, the older adult would need to contribute a total of 8 Nm (hips) and 50 Nm (knees). For TWIN to provide full STS assistance, it would require new motors that can exert at least 121 Nm (hips) and 140 Nm (knees) total. The presented optimal control approaches can be replicated on other exoskeletons to determine the torques required with their mass distributions. Future improvements are discussed and the results presented lay groundwork for eliminating crutches when moving with an exoskeleton.

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Section: Methodsmentioning

confidence: 99%

Can lower-limb exoskeletons support sit-to-stand motions in frail elderly without crutches? A study combining optimal control and motion capture

Lau,

Mombaur

2024

Front. Neurorobot.

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“…The most popular of these general-purpose software packages are described in the following paragraphs. Other toolboxes or software include CasADi, an open-source tool for nonlinear optimization and algorithmic differentiation [150] (it uses the IPOPT solver), the recursive integration optimal trajectory solver (RIOTS) (a MATLAB toolbox from the University of California, Berkeley, USA), the open-source software for predictive simulation of biological motion (SCONE) [151], Bioptim, which is a Python framework based on IPOPT [152], and musculoskeletal optimal control (Moco), which can perform tracking and predictive simulations using OpenSim models [27].…”

Section: Optimal Control Softwarementioning

confidence: 99%

Predictive multibody dynamic simulation of human neuromusculoskeletal systems: a review

et al. 2022

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Over the past decade, there has been a rapid increase in applications of multibody system dynamics to the predictive simulation of human movement. Using predictive "what-if" human dynamic simulations that do not rely on experimental testing or prototypes, new medical interventions and devices can be developed more quickly, cheaply, and safely. In this paper, we provide a comprehensive review of research into the predictive multibody dynamic simulation of human movements, with applications in clinical practice, medical and assistive device design, sports, and industrial ergonomics. Multibody models of human neuromusculoskeletal systems are reviewed, including models of joints, contacts, and muscle forces or torques, followed by a review of simulation approaches that use optimal control methods and a cost function to predict human movements. Modelling and optimal control software are also reviewed, and directions for future research are suggested.

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