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Forward dynamics simulation of human walking employing an iterative feedback tuning approach

Selk Ghafari, A ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1243/09596518JSCE671
  3. Publisher: 2009
  4. Abstract:
  5. Inverse dynamics analysis as well as the generation of an optimal goal oriented human motion both lead to the problem of finding suitable activations of the redundant muscles involved. This paper employs an iterative feedback tuning approach to perform the forward dynamics simulation of the human musculoskeletal system during level walking. A modified form of the proportional-integral-derivative (PID) controller is proposed to stabilize the movement and provide tracking of problems of the desired lower extremity joint profiles. Controller parameters were determined iteratively using an optimization algorithm to minimize tracking errors during forward dynamics simulation. Static optimization was employed simultaneously to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the gait experimental measurements and the reference muscle activity show the accuracy and efficiency of the proposed method to provide a stable gait. © IMechE 2009
  6. Keywords:
  7. Closed-loop simulations ; Controller parameter ; Experimental measurements ; Forward dynamics ; Forward dynamics simulation ; Goal-oriented ; Human motions ; Human walking ; Inverse dynamics ; Iterative feedback tuning ; Level walking ; Lower extremity ; Muscle activities ; Optimization algorithms ; PID controller ; Proportional integral derivative controllers ; Quantitative comparison ; Simulation result ; Static optimization ; Tracking errors ; Controllers ; Dynamics ; Electric control equipment ; Medical computing ; Optimization ; Proportional control systems ; Three term control systems ; Time varying networks ; Tuning ; Two term control systems ; Muscle
  8. Source: Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 223, Issue 3 , 2009 , Pages 289-297 ; 09596518 (ISSN)
  9. URL: https://journals.sagepub.com/doi/abs/10.1243/09596518JSCE671