Optimization-based prediction of asymmetric human gait

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

doi:10.1016/j.jbiomech.2010.10.045

Cited by 74 publications

(53 citation statements)

References 48 publications

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“…The method has been used recently to simulate human walking and box lifting using the whole body 3D skeletal model (Xiang et al 2009b(Xiang et al , 2010b(Xiang et al , 2011a. The method can be used to predict the optimal joint angle, joint torque, and GRF profiles simultaneously for human motor tasks.…”

Section: Predictive Dynamics Methodsmentioning

confidence: 99%

“…The joint torque is calculated at each DOF. The anthropometric data for the skeletal model representing a 50th percentile male is generated using GEBOD software (Cheng et al 1994;Xiang et al 2009bXiang et al , 2011a. The general equations of motion for a multi-link rigid body system can be written as (Fu et al 1987):…”

Section: Skeletal Model and Kinematics And Dynamicsmentioning

confidence: 99%

“…The normalized dynamic effort, which is defined as the time integral of the squares of all joint torques, is chosen as the objective function (Bessonnet et al 2010;Fregly et al 2007;Xiang et al 2009bXiang et al , 2011a to be minimized for transition movements with alternative normalization procedure:…”

Section: Objective Functionmentioning

confidence: 99%

“…Predictive dynamics (PD) method was proposed and developed by the authors and their associates have been successfully used to predict human motions such as walking (Xiang et al 2009b(Xiang et al , 2011a and box lifting (Xiang et al 2010b). Xiang et al (2009b) presented a one-step formulation for spatial human walking motion prediction using a 55-DOF skeletal model (38 DOFs are active).…”

mentioning

confidence: 99%

“…The formulation also showed high fidelity in predicting joint torques and ground reaction forces. In a companion paper (Xiang et al 2011a), one-stride formulation was introduced to simulate human walking. Although the computation cost was increased, the asymmetric walking motion was simulated to study specific pathological gaits.…”

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confidence: 99%

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Predictive simulation of human walking transitions using an optimization formulation

Xiang

Arora

Chung

et al. 2011

Struct Multidisc Optim

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A general optimization formulation for transition walking prediction using 3D skeletal model is presented. The formulation is based on a previously presented onestep walking formulation (Xiang et al., Int J Numer Methods Eng 79:667-695, 2009b). Two basic transitions are studied: walk-to-stand and slow-to-fast walk. The slow-to-fast transition is used to connect slow walk to fast walk by using a step-to-step transition formulation. In addition, the speed effects on the walk-to-stand motion are investigated. The joint torques and ground reaction forces (GRF) are recovered and analyzed from the simulation. For slow-to-fast walk transition, the predicted ground reaction forces in step transition is even larger than that of the fast walk. The model shows good correlation with the experimental data for the lower extremities except for the standing ankle profile. The optimal solution of transition simulation is obtained in a few minutes by using predictive dynamics method.

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Section: Predictive Dynamics Methodsmentioning

confidence: 99%

Section: Skeletal Model and Kinematics And Dynamicsmentioning

confidence: 99%

Section: Objective Functionmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Predictive simulation of human walking transitions using an optimization formulation

Xiang

Arora

Chung

et al. 2011

Struct Multidisc Optim

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Inclusion of actuator dynamics in simulations of assisted human movement

Nguyen

LaPrè

Price

et al. 2020

Numer Methods Biomed Eng

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Simulation of musculoskeletal systems using dynamic optimization is a powerful approach for studying the biomechanics of human movements and can be applied to human-robot interactions. The simulation results of human movements augmented by robotic devices may be used to evaluate and optimize the device design and controller. However, simulations are limited by the accuracy of the models which are usually simplified for computation efficiency. Typically, the powered robotic devices are often modeled as massless, ideal torque actuators that is without mass and internal dynamics, which may have significant impacts on the simulation results. This article investigates the effects of including the mass and internal dynamics of the device in simulations of assisted human movement. The device actuator was modeled in various ways with different detail levels. Dynamic optimization was used to find the muscle activations and actuator commands in motion tracking and predictive simulations. The results showed that while the effects of device mass and inertia can be small, the electrical dynamics of the motor can significantly impact the results. This outcome suggests the importance of using an accurate actuator model in simulations of human movement augmented by assistive devices. Novelty• Demonstrating the effects of including mass and internal dynamics of the actuator in simulations of assisted human movement • A new OpenSim electric motor actuator class to capture the electromechanical dynamics for use in simulation of human movement assisted by powered robotic devices

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Contribution of a Knee Orthosis to Walking

Bordron

Huneau

Carpentier

et al. 2018

Biosystems &Amp; Biorobotics

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This study is devoted to investigate the influence of a knee orthosis for human walking by using a mathematical model for a 7-links planar biped-composed with two identical legs, two feet and one trunk-with an orthosis attached to both thigh and calf, during walking. In the first part, we design a cyclic walking gait in the sagittal plane for human without the orthosis. The second part we consider that the human looses his muscular possibilities in one of his knees. To overcome his handicap the human is equipped of a knee orthosis. We analyse the positive effect of the orthosis over the assisted knee to track the previous designed reference trajectory. By using at each time an optimisation algorithm, we minimise the torques provided by the human. The numerical tests confirm the possibility to reduce the torque produced in the disabled knee. The next step is to take into account explicitly an information from EMG signal during a walking to modulate the power of the orthosis.

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Optimization-based prediction of asymmetric human gait

Cited by 74 publications

References 48 publications

Predictive simulation of human walking transitions using an optimization formulation

Predictive simulation of human walking transitions using an optimization formulation

Inclusion of actuator dynamics in simulations of assisted human movement

Contribution of a Knee Orthosis to Walking

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