title: An optimisation-based model for full-body upright reaching movements.
abstract: An optimal simulation 3D model for full-body upright reaching movements was developed using graphic-based modelling tools (SimMechanics) to generate an inverse dynamics model of the skeleton and using parameterisation methods for a sensory motor controller. The adaptive weight coefficient of the cost function based on the final motor task error (i.e. distance between end-effector and target at the end of movement) was used to correct motor task error and physiological measurements (e.g. joint power, centre of mass displacement, etc.). The output of the simulation models using various cost functions were compared to experimental data from 15 healthy participants performing full-body upright reaching movements. The proposed method can reasonably predict full-body voluntary movements in terms of final posture, joint power, and movement of the centre of mass (COM) using simple algebraic calculations of inverse dynamics and forward kinematics instead of the complicated integrals of the forward dynamics. We found that the combination of several control strategies, i.e. minimising end-effector error, total joint power and body COM produced the best fit of the full-body reaching task.
authors.affiliation: a Biostatistics Analysis Center at Center of Clinical Epidemiology and Biostatistics, University of Pennsylvania School of Medicine , 525A Blockley Hall, 423 Guardian Drive, Philadelphia , PA 19104 , USA.
authors.forename: Daohang
authors.initials: D
authors.lastname: Sha
authors.forename: James S
authors.initials: JS
authors.lastname: Thomas
mesh_terms: D000328:Adult; D001132:Arm / Q000502:physiology*; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D006801:Humans; D008954:Models, Biological; D009043:Motor Activity / Q000502:physiology*; D011187:Posture / Q000502:physiology*
keywords: full-body reaching; inverse dynamics; sensory motor control; skeleton modelling