Optimization‐based dynamic human walking prediction: One step formulation

Xiang, Yujiang; Arora, Jasbir S.; Rahmatalla, Salam; Abdel‐Malek, Karim

doi:10.1002/nme.2575

Cited by 95 publications

(96 citation statements)

References 34 publications

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“…In other words it's being assumed that CNS try to minimize a particular function value to perform each task, and musculoskeletal system impose some constraints to the motion too. Predictive dynamics is a novel approach used to motion simulation [16], [23]; it implements inverse dynamics as a major constraint to modeling the dynamics of the motion in the simulation process. The joints torques and angles are the optimization process variables, so by using this method we can obtain joint angles and torques as output according to task constraints used as inputs.…”

Section: Simulation Processmentioning

confidence: 99%

See 1 more Smart Citation

Realistic Dynamic Posture Prediction of Humanoid Robot: Manual Lifting Task Simulation

Shoushtari

Abedi

2012

Intelligent Robotics and Applications

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Abstract.A well known question mooted in biomechanics is how the central nerves system manages the body posture during various tasks. A 5DOF biomechatronical model of human body subjected to simulate the manual lifting task of humanoid robot. Simulation process is based on optimization approach named predictive dynamics using inverse dynamics. An objective function in term of ankle torques during lifting time, subjected to be minimized. It assumed that CNS considered this function to perform lifting motion balanced. In the other optimization-based simulations, balancing motion was guaranteed by a nonlinear inequality constraint which restricts the total moment arm of the links to an upper and lower boundary. In this method there is no need to use this constraint. Result shows that the motion is performed balanced. According to the comparison the results with the experimental data, the body posture of humanoid robots, predicted as similar as actual human posture.

show abstract

Section: Simulation Processmentioning

confidence: 99%

“…In fact this constraint prevent of figurate postures will caused to falling to forward and backward. In this research we use an optimization-based algorithm named predictive dynamics [16]. With objective function consist of ankle torque summation during lifting time.…”

Section: Introductionmentioning

confidence: 99%

Realistic Dynamic Posture Prediction of Humanoid Robot: Manual Lifting Task Simulation

Shoushtari

Abedi

2012

Intelligent Robotics and Applications

View full text Add to dashboard Cite

show abstract

“…This assumption is implemented in some biomechanical researches to simulate the CNS action to predict the muscle forces and limb motions [1][2][3]19]. The predictive dynamics is a novel approach used for the motion simulation [27,28]; it implements inverse dynamic equations as a major constraint to model the motion's dynamics in the simulation process. The joints torques and angles are the designed variables, so by using this method the joint angles and torques could obtain as outputs, according to the task parameters which are used as inputs.…”

Section: Optimization-based Simulationmentioning

confidence: 99%

“…In fact, this constraint prevents of figurate the postures which will cause the falling forward and backward. In this research the optimization-based algorithm named predictive dynamics [27] with the objective function consisted of ankle torque squares summation during lifting time are used. In such approach, the inverse dynamics, limitation of joints torque and joints ranges of motion are used as constraints to construct the motion similar to real lifting movement.…”

Section: Introductionmentioning

confidence: 99%

What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting

Shoushtari

2013

Applied Bionics and Biomechanics

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Abstract. How does the central nervous system control the body posture during various tasks despite a redundancy? It's a well-known question existed in such fields of study as biomechanics and bioengineering. Some techniques based on muscle and torques synergies are presented to study the function which Central Nervous System uses to addresses the kinetic redundancy in musculoskeletal system. The human body with its whole numerous joints considered as a hyper redundant structure which caused to be seemed that it is impossible for CNS to control and signal such system. To solve the kinematic redundancy in previous studies it is hypothesize that CNS functions as an optimizer, such of that are the task-based algorithms which search to find optimal solution for each specific task. In this research a new objective function based on ankle torques during movement is implemented to guarantee the stability of motion. A 2D 5DOF biomechatronical model of human body is subjected to lifting task simulation. The simulation process implements inverse dynamics as major constraint to consider the dynamics of motion for predicted postures. In the previous optimization-based techniques which are used to simulate the human movements, the motion stability was guaranteed by a nonlinear inequality constraint which restricts the total moment arm of the links to an upper and lower boundary. In this method, there is no need to use this constraint. The results show that the simulated postures are normal and the predicted motion is performed completely balanced.

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“…The presence of uncertainty in the system results in uncertain states and/or inputs. Therefore, the uncertain states/inputs can be approximated in a similar fashion as (24),…”

Section: Generalized Polynomial Chaosmentioning

confidence: 99%