Biomechanical modeling and optimal control of human posture.
The present work describes the biomechanical modeling of human postural mechanics in the saggital plane and the use of optimal control to generate open-loop raising-up movements from a squatting position. The biomechanical model comprises 10 equivalent musculotendon actuators, based on a 40 muscles model, and three links (shank, thigh and HAT-Head, Arms and Trunk). Optimal control solutions are achieved through algorithms based on the Consistent Approximations Theory (Schwartz and Polak, 1996), where the continuous non-linear dynamics is represented in a discrete space by means of a Runge-Kutta integration and the control signals in a spline-coefficient functional space. This leads to non-linear programming problems solved by a sequential quadratic programming (SQP) method. Due to the highly non-linear and unstable nature of the posture dynamics, numerical convergence is difficult, and specific strategies must be implemented in order to allow convergence. Results for control (muscular excitations) and angular trajectories are shown using two final simulation times, as well as specific control strategies are discussed.
Menegaldo
Luciano Luporini
LL
São Paulo State Institute for Technological Research, Control System Group/Mechanical and Electrical Engineering Division, and Department of Mechanical Engineering, Polytechnic School, University of São Paulo, Brazil. lmeneg@ipt.br
Fleury
Agenor de Toledo
Ade T
Weber
Hans Ingo
HI
D000465:Algorithms; D001696:Biomechanical Phenomena / Q000379:methods; D003198:Computer Simulation; D005246:Feedback / Q000502:physiology*; D006801:Humans; D007866:Leg / Q000502:physiology*; D008954:Models, Biological; D009068:Movement / Q000502:physiology*; D009119:Muscle Contraction / Q000502:physiology*; D018482:Muscle, Skeletal / Q000502:physiology; D004856:Postural Balance / Q000502:physiology*; D011187:Posture / Q000502:physiology*