Predictive simulation of human walking transitions using an optimization formulation

Box delivery is a complicated task and it is challenging to predict the box delivery motion associated with the box weight, delivering speed, and location. This paper presents a single task-based inverse dynamics optimization method for determining the planar symmetric optimal box delivery motion (multi-task jobs). The design variables are cubic B-spline control points of joint angle profiles. The objective function is dynamic effort, i.e., the time integral of the square of all normalized joint torques. The optimization problem includes various constraints. Joint angle profiles are validated through experimental results using root-mean-square-error (RMSE) and Pearsons correlation coefficient. This research provides a practical guidance to prevent injury risks in joint torque space for workers who lift and deliver heavy objects in their daily jobs.

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“…where τ L and τ U are the lower and upper joint torque bounds, respectively. The torque limits are obtained from literature [34].…”

Section: Single Task-based Optimization Formulationmentioning

confidence: 99%

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Xiang

Tahmid

Owens

et al. 2021

Journal of Mechanisms and Robotics

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“…Each joint torque is also bounded by its physical limits, which are obtained from the literature: 27,33…”

Section: Joint Torque Limitsmentioning

confidence: 99%

Optimization-based dynamic 3D human running prediction: effects of foot location and orientation

et al. 2014

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2015). Optimization-based dynamic 3D human running prediction: effects of foot location and orientation. Robotica, 33, pp 413-435 SUMMARY This paper presents optimization-based dynamic three-dimensional (3D) human running prediction. A predictive dynamics method is used to formulate the running problem, and normal running is formulated as a symmetric and cyclic motion. In addition, a slow jog along curved paths has been formulated. It is a non-symmetric running motion, so a stride formulation has been used. The dynamic effort and impulse are used as the performance measure, and the upper body yawing moment is also included in the performance measure. The joint angle profiles and joint torque profiles are calculated for the full-body human model, and the ground reaction force is determined. The effects of foot location and orientation on the running motion prediction are simulated and studied. Simulation results from this methodology show good correlation with experimental data obtained from human subjects.

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“…The result of the calculations is to obtain, among others, angles between individual members and the location of individual points in a given coordinate system. The description of the model can also be realized using the Denavit-Hartenberg notation together with the Newton-Euler equations [ 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 ] or the algebra of quaternions and dual quaternions [ 21 , 22 , 23 , 24 , 25 ].…”

Section: Introductionmentioning

confidence: 99%

Recreating the Motion Trajectory of a System of Articulated Rigid Bodies on the Basis of Incomplete Measurement Information and Unsupervised Learning

Nalepa

Pawlyta

Janiak

et al. 2022

Sensors

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Re-creating the movement of an object consisting of articulated rigid bodies is an issue that concerns both mechanical and biomechanical systems. In the case of biomechanical systems, movement re-storation allows, among other things, introducing changes in training or rehabilitation exercises. Motion recording, both in the case of mechanical and biomechanical systems, can be carried out with the use of sensors recording motion parameters or vision systems and with hybrid solutions. This article presents a method of measuring motion parameters with IMU (Inertial Measurement Unit) sensors. The main assumption of the article is to present the method of data estimation from the IMU sensors for the given time moment on the basis of data from the previous time moment. The tested system was an industrial robot, because such a system allows identifying the measurement errors from IMU sensors and estimating errors basing on the reference measurements from encoders. The aim of the research is to be able to re-create the movement parameters of an object consisting of articulated rigid bodies on the basis of incomplete measurement information from sensors. The developed algorithms can be used in the diagnostics of mechanical systems as well as in sport or rehabilitation. Limiting sensors will allow, for example, athletes defining mistakes made during training only on the basis of measurements from one IMU sensor, e.g., installed in a smartphone. Both in the case of rehabilitation and sports, minimizing the number of sensors allows increasing the comfort of the person performing a given movement as part of the measurement.

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Predictive simulation of human walking transitions using an optimization formulation

Cited by 22 publications

References 30 publications

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Optimization-based dynamic 3D human running prediction: effects of foot location and orientation

Recreating the Motion Trajectory of a System of Articulated Rigid Bodies on the Basis of Incomplete Measurement Information and Unsupervised Learning

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