3D-Simulation of human walking by parameter optimization |
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Authors: | Daniel García-Vallejo Werner Schiehlen |
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Institution: | (1) Virtual Soldier Research (VSR) Program, Center for Computer-Aided Design (CCAD), College of Engineering, The University of Iowa, Iowa City, IA 52242, USA |
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Abstract: | The simulation of human gait is a complex dynamical problem that requires accounting for energy consumption as well as dealing
with a redundantly actuated multibody system. If muscle forces and generalized coordinates are parameterized, optimization
techniques allow the simulation of the muscle forces and of the walking motion. An optimization framework is presented for
non-symmetrical gait cycles found in the presence of one-sided gait disorders. The motion of each leg is independently parameterized
for a whole walking cycle. The non-linear constraints used to fulfill the equations of motion and the kinematical constraints
of the different walking phases are implemented in an efficient way. Fifth-order splines are used for the parameterization
to reduce the oscillatory behavior coming from non-periodicity conditions. To achieve the computational performance required
for three-dimensional simulations, the spline interpolation problem has been split in two parts, one is performed in a preprocessing
stage and the other during the optimization. Numerical differentiation via finite differences is avoided by implementing analytical
derivatives of the splines functions and of the contractile element force law. The results show good numerical performance,
and the computational efficiency for 3D-simulations with one-sided gait disorders is highlighted. |
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Keywords: | |
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