David Brogan
University of Virginia
Kevin Granata
University of Virginia
Pradip Sheth
University of Virginia
Applied Modeling and Simulation, 2002.
Abstract
To better understand human movements, biomechanical
models must be developed that accurately describe human
physiology and control strategies. Typically,
biomechanical models must be adapted or hand tuned to
study the countless unique users and tasks caused by
human diversity and pathologic movement dysfunctions.
The convergence of optimization theories, biomechanical
models, and computational systems promises to alleviate
these manual processes. We describe a computational
technique called spacetime constraints that can be used to
automatically solve for both optimal movement
trajectories and joint activation torques as befitting the
subject, environmental constraints, and objectives. We
demonstrate the success of this technique on bipedal
downhill walking by comparing our results to optimal
movements and joint torques published in the literature.
With this contribution to computational biomechanics, we
outline a modeling framework that uses easily
configurable physical models, constraints, and objective
functions to determine movements and control actions.
Paper
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