Assessment of residual reduction procedures for high-speed tasks
Uložené v:
| Názov: | Assessment of residual reduction procedures for high-speed tasks |
|---|---|
| Autori: | Pallarès López, Roger, Costa Alvim, Felipe, Febrer Nafría, Miriam, Luporini Menegaldo, Luciano, Font Llagunes, Josep Maria |
| Prispievatelia: | Universitat Politècnica de Catalunya. Doctorat en Enginyeria Biomèdica, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab |
| Zdroj: | GAIT & POSTURE r-FSJD. Repositorio Institucional de Producción Científica de la Fundació Sant Joan de Déu Fundació Sant Joan de Déu GAIT POSTURE instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) r-FSJD: Repositorio Institucional de Producción Científica de la Fundació Sant Joan de Déu Recercat. Dipósit de la Recerca de Catalunya |
| Informácie o vydavateľovi: | Elsevier BV, 2019. |
| Rok vydania: | 2019 |
| Predmety: | Movement, Posture, 0206 medical engineering, Enginyeria mecànica, 02 engineering and technology, Residual reduction, Models, Biological, 03 medical and health sciences, 0302 clinical medicine, Triple hop test, Task Performance and Analysis, Humans, Enginyeria biomèdica::Biomecànica [Àrees temàtiques de la UPC], Biomechanics, Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica, Exercise, Inverse dynamics, Enginyeria biomèdica [Àrees temàtiques de la UPC], Biomecànica, Mechanical engineering, Àrees temàtiques de la UPC::Enginyeria biomèdica, Optimal control, Biomechanical Phenomena, Torque, Algorithms |
| Popis: | Experimental and modeling errors can lead to dynamically inconsistent results when performing inverse dynamic analyses of human movement. Adding low-value residual pelvis actuators could deal with such a problem. However, in certain tasks, these residuals may remain quite large, and strategies based on motion or force variation must be applied.Can the dynamic inconsistency be handled by an optimal control algorithm that changes the measured kinematics in the preparatory phase of the single leg triple hop test, a relatively high-speed and torque-demanding task, so that residuals are kept within a low range?The proposed optimal control algorithm was developed as a tracking problem, in which the implicit form of dynamics was used. Equations of motion were introduced as path constraints, as well as residual forces and moments acting on the pelvis. To do so, GPOPS-II and IPOPT were employed to solve the optimization problem. Furthermore, OpenSim API was called at each iteration to solve the equations of motion through an inverse dynamic analysis.Results presented a high reduction in all six components of residual actuators during the entire task. Moreover, resulting motion after the optimization showed a very similar evolution than the reference motion before the ascending phase of the task. Once the ascending phase started, some coordinates presented a more significant discrepancy compared to the reference, such as the pelvis tilt and lumbar extension.The findings suggest that the proposed algorithm can deal with dynamic inconsistency in high-speed tasks, obtaining low residual forces and moments while keeping similar kinematics. Hence, it could complement other optimal control algorithms that simulate new motions, relying on dynamically consistent data. |
| Druh dokumentu: | Article |
| Popis súboru: | application/pdf |
| Jazyk: | English |
| ISSN: | 0966-6362 |
| DOI: | 10.1016/j.gaitpost.2019.07.191 |
| Prístupová URL adresa: | https://upcommons.upc.edu/bitstream/2117/174487/1/Manuscript_v2.pdf https://pubmed.ncbi.nlm.nih.gov/31323619 https://fsjd.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=17724 http://fundanet.fsjd.org/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=17724 http://hdl.handle.net/2117/174487 http://www.sciencedirect.com/science/article/pii/S0966636219301262 https://pubmed.ncbi.nlm.nih.gov/31323619/ https://www.sciencedirect.com/science/article/abs/pii/S0966636219301262 https://www.ncbi.nlm.nih.gov/pubmed/31323619 https://www.sciencedirect.com/science/article/abs/pii/S0966636219301262#! https://upcommons.upc.edu/bitstream/2117/174487/1/Manuscript_v2.pdf https://hdl.handle.net/2117/174487 https://doi.org/10.1016/j.gaitpost.2019.07.191 |
| Rights: | Elsevier TDM CC BY NC ND |
| Prístupové číslo: | edsair.doi.dedup.....02b03ecfb4ace19c701e1ec7715dba1e |
| Databáza: | OpenAIRE |
Full Text Finder 
Nájsť tento článok vo Web of Science | Abstrakt: | Experimental and modeling errors can lead to dynamically inconsistent results when performing inverse dynamic analyses of human movement. Adding low-value residual pelvis actuators could deal with such a problem. However, in certain tasks, these residuals may remain quite large, and strategies based on motion or force variation must be applied.Can the dynamic inconsistency be handled by an optimal control algorithm that changes the measured kinematics in the preparatory phase of the single leg triple hop test, a relatively high-speed and torque-demanding task, so that residuals are kept within a low range?The proposed optimal control algorithm was developed as a tracking problem, in which the implicit form of dynamics was used. Equations of motion were introduced as path constraints, as well as residual forces and moments acting on the pelvis. To do so, GPOPS-II and IPOPT were employed to solve the optimization problem. Furthermore, OpenSim API was called at each iteration to solve the equations of motion through an inverse dynamic analysis.Results presented a high reduction in all six components of residual actuators during the entire task. Moreover, resulting motion after the optimization showed a very similar evolution than the reference motion before the ascending phase of the task. Once the ascending phase started, some coordinates presented a more significant discrepancy compared to the reference, such as the pelvis tilt and lumbar extension.The findings suggest that the proposed algorithm can deal with dynamic inconsistency in high-speed tasks, obtaining low residual forces and moments while keeping similar kinematics. Hence, it could complement other optimal control algorithms that simulate new motions, relying on dynamically consistent data. |
|---|---|
| ISSN: | 09666362 |
| DOI: | 10.1016/j.gaitpost.2019.07.191 |