Optimality Studies of Human Sprinting Motions with and Without Running-Specific Prostheses

2019 ◽  
Vol 16 (03) ◽  
pp. 1940003
Author(s):  
Anna Lena Emonds ◽  
Katja Mombaur
Keyword(s):  
Optimal Control ◽  
Average Velocity ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Similarity Measures ◽  
Optimality Criteria ◽  
Joint Torques ◽  
Dynamic Constraints ◽  
Specific Objective ◽  
Reaction Forces

Due to the remarkable performances of some amputee athletes, the power of their running-specific prostheses came to the fore of the discussions. The aim of our study was to compare non-amputee and amputee sprinting motions resulting from optimization using combinations of eight optimality criteria with either fixed or free average velocity. For the description of the amputee and the non-amputee athlete, we created rigid multi-body system models with 16 degrees of freedom in the sagittal plane. Each sprinting motion is the solution of a specific optimal control problem with periodicity and dynamic constraints. We found realistic human-like sprinting motions for both the non-amputee and the amputee athlete. We compared the optimized solutions to dynamics-reconstructed solutions from motion capture data and determined similarity measures for each of them. The investigation of the amputee athlete’s joint torques and ground reaction forces revealed that the real amputee athlete does not exploit the functionality of his running-specific prosthesis as much as the model. The optimal control problems with free average velocity generated human-like sprinting motions as well. However, for specific objective functions the velocities exceed the fastest measured velocities in human sprinting.

Comparison of Sprinting With and Without Running-Specific Prostheses Using Optimal Control Techniques

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2176-2194 ◽  
Author(s):  
Anna Lena Emonds ◽  
Johannes Funken ◽  
Wolfgang Potthast ◽  
Katja Mombaur
Keyword(s):  
Optimal Control ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Reference Group ◽  
Optimality Criteria ◽  
Mechanical Work ◽  
Step Frequency ◽  
Joint Torques ◽  
Linear Spring ◽  
Multi Body

SummaryThe purpose of our study was to get deeper insights into sprinting with and without running-specific prostheses and to perform a comparison of the two by combining analysis of known motion capture data with mathematical modeling and optimal control problem (OCP) findings. We established rigid multi-body system models with 14 bodies and 16 degrees of freedom in the sagittal plane for one unilateral transtibial amputee and three non-amputee sprinters. The internal joints are powered by torque actuators except for the passive prosthetic ankle joint which is equipped with a linear spring–damper system. For each model, the dynamics of one sprinting trial was reconstructed by solving a multiphase least squares OCP with discontinuities and constraints. We compared the motions of the amputee athlete and the non-amputee reference group by computing characteristic criteria such as the contribution of joint torques, the absolute mechanical work, step frequency and length, among others. By comparing the amputee athlete with the non-amputee athletes, we found reduced activity in the joints of the prosthetic limb, but increased torques and absolute mechanical work in the arms. We also compared the recorded motions to synthesized motions using different optimality criteria and found that the recorded motions are still far from the optimal solutions for both amputee and non-amputee sprinting.

Estimation of Metabolical Costs for Human Locomotion

2005 ◽  
Author(s):  
Werner Schiehlen ◽  
Marko Ackermann
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Sagittal Plane ◽  
Human Locomotion ◽  
Human Gait ◽  
Joint Torques ◽  
Gait Quality ◽  
Analysis Laboratory ◽  
Muscle Models

Metabolical energy is the chemical energy consumed by skeletal muscles to generate force. This quantity is useful to understand the comfort of human gait and to evaluate, in terms of effort required, the performance of devices or therapies designed to improve gait quality of persons presenting gait disorders. Firstly, this paper presents the frequently used estimations of energy expenditure based lonely on joint torques and mechanical costs obtained by inverse dynamics of passive and active walking devices. Secondly, a more advanced approach is discussed consisting of modeling the musculoskeletal system with Hill-type phenomenological muscle models and computing the metabolical expenditure adopting expressions recently proposed in the literature. As an example a musculoskeletal model of the lower limb in the sagittal plane consisting of thigh, shank and foot with three degrees of freedom and actuated by eight muscles is considered. This model is used to estimate metabolical costs for known normal gait kinematical data obtained in a gait analysis laboratory.

Kinematic and Kinetic Constraints on Arm, Trunk, and Leg Segments in Target-Reaching Movements

2005 ◽  
Vol 93 (1) ◽  
pp. 352-364 ◽  
Author(s):  
James S. Thomas ◽  
Daniel M. Corcos ◽  
Ziaul Hasan
Keyword(s):  
Degrees Of Freedom ◽  
Neural Control ◽  
Time Course ◽  
Sagittal Plane ◽  
Principal Component ◽  
Joint Torque ◽  
Trunk Flexion ◽  
Joint Torques ◽  
Joint Task ◽  
Task Conditions

We studied target reaching tasks involving not only the arms but also the trunk and legs, which necessitated some trunk flexion. Such tasks can be successfully completed using an infinite number of combinations of segment motions due to the inherent kinematic redundancy with the excessive degrees of freedom (DOFs). Sagittal plane motions of six segments (shank, thigh, pelvis, trunk, humerus, and forearm) and dynamic torques of six joints (ankle, knee, hip, lumbar, shoulder, and elbow) were analyzed separately by principal component (PC) analyses to determine if there was a commonality among the shapes of the respective waveforms. Additionally, PC analyses were used to probe for constraining relationships among the 1) relative magnitudes of segment excursions and 2) the peak-to-peak dynamic joint torques. In summary, at the kinematic level, the tasks are simplified by the use of a single common waveform for all segment excursions with 89.9% variance accounted for (VAF), but with less fixed relationships among the relative scaling of the magnitude of segment excursions (62.2% VAF). However, at the kinetic level, the time course of the dynamic joint torques are not well captured by a single waveform (72.7% VAF), but the tasks are simplified by relatively fixed relationships among the scaling of dynamic joint torque magnitudes across task conditions (94.7% VAF). Taken together, these results indicate that, while the effective DOFs in a multi-joint task are reduced differently at the kinematic and kinetic levels, they both contribute to simplifying the neural control of these tasks.

Predictive Simulation of Human Ladder Climbing

2013 ◽  
Author(s):  
Hyun-Joon Chung ◽  
Yujiang Xiang ◽  
Mahdiar Hariri ◽  
Rajan Bhatt ◽  
Jasbir S. Arora ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Motion Tracking ◽  
Mechanical Energy ◽  
Joint Torque ◽  
Human Model ◽  
Joint Torques ◽  
Contact Points ◽  
Design Variables ◽  
Reaction Forces ◽  
Hands And Feet

An optimization formulation for human ladder climbing simulation is presented. The human model has 55 degrees of freedom — 49 revolute joints and 6 global translation & rotation joints. It is assumed that the ladder climbing motion is symmetric and periodic. The formulation starts with four contact points with both hands and feet. Then, hand and foot moves up and it ends with four contact points again. Design variables are the joint angle profiles and contact reaction forces. The objective function is combined with dynamic efforts and motion tracking. The dynamic efforts are joint torque square which is proportional to the mechanical energy. The motion tracking is the motion capture data tracking so that the motion follows the natural ladder climb motion as well. The dynamics results with joint torques and reaction forces are recovered and analyzed from the simulation.

scholarly journals Optimization of Joint Torques of Robot Using Dynamic Redundant Degrees of Freedom.

1992 ◽  
Vol 10 (5) ◽  
pp. 682-688
Author(s):  
Tamio ARAI ◽  
Shih-Hsuan CHIU ◽  
Akira SAIKI ◽  
Hisashi OSUMI
Keyword(s):  
Degrees Of Freedom ◽  
Joint Torques

scholarly journals Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Alexander Agboola-Dobson ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Variable Stiffness ◽  
Plane Motion ◽  
Biologically Inspired ◽  
Passive Rotation ◽  
Ground Conditions ◽  
Biologically Inspired Design

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a series-elastic actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable to provide both powered sagittal plane flexion and two degrees of freedom (2-DOF) at the ankle, removing the ankle’s capacity to invert/evert, thus severely limiting terrain adaption capabilities and user comfort. The developed 2-DOF ankle system in this paper allows both powered flexion in the sagittal plane and passive rotation in the frontal plane; an SEA emulates the biomechanics of the gastrocnemius and Achilles tendon for flexion while a novel universal-joint system provides the 2-DOF. Several studies were undertaken to thoroughly characterize the capabilities of the device. Under both level- and sloped-ground conditions, ankle torque and kinematic data were obtained by using force-plates and a motion capture system. The device was found to be fully capable of providing powered sagittal plane motion and torque very close to that of a biological ankle while simultaneously being able to adapt to sloped terrain by undergoing frontal plane motion, thus providing 2-DOF at the ankle. These findings demonstrate that the device presented in this paper poses radical improvements to powered prosthetic ankle-foot device (PAFD) design.

scholarly journals Joint torque and velocity optimization for a redundant leg of quadruped robot

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141773189 ◽  
Author(s):  
Taihui Zhang ◽  
Honglei An ◽  
Hongxu Ma
Keyword(s):  
Angular Velocity ◽  
Sagittal Plane ◽  
Load Capacity ◽  
Optimization Criterion ◽  
Quadruped Robot ◽  
Joint Torque ◽  
Quadratic Program ◽  
Hydraulic Actuator ◽  
Joint Torques ◽  
Physical Limitations

Hydraulic actuated quadruped robot similar to BigDog has two primary performance requirements, load capacity and walking speed, so that it is necessary to balance joint torque and joint velocity when designing the dimension of single leg and controlling its motion. On the one hand, because there are three joints per leg on sagittal plane, it is necessary to firstly optimize the distribution of torque and angular velocity of every joint on the basis of their different requirements. On the other hand, because the performance of hydraulic actuator is limited, it is significant to keep the joint torque and angular velocity in actuator physical limitations. Therefore, it is essential to balance the joint torque and angular velocity which have negative correlation under the condition of constant power of the hydraulic actuator. The main purpose of this article is to optimize the distribution of joint torques and velocity of a redundant single leg with joint physical limitations. Firstly, a modified optimization criterion combining joint torques with angular velocity that takes both support phase and flight phase into account is proposed, and then the modified optimization criterion is converted into a normal quadratic programming problem. A kind of recurrent neural network is used to solve the quadratic program problem. This method avoids tremendous matrix inversion and fits for time-varying system. The achieved optimized distribution of joint torques and velocity is useful for aiding mechanical design and the following motion control. Simulation results presented in this article confirm the efficiency of this optimization algorithm.

Human Carrying Simulation With Symmetric and Asymmetric Loads

2012 ◽  
Author(s):  
Yujiang Xiang ◽  
Jasbir S. Arora ◽  
Salam Rahmatalla ◽  
Hyun-Joon Chung ◽  
Rajan Bhatt ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Human Motion ◽  
Human Model ◽  
Physical Constraints ◽  
Digital Human Model ◽  
Load Carrying ◽  
Reaction Forces ◽  
Asymmetric Load ◽  
Optimization Schemes ◽  
Digital Human

Human carrying is simulated in this work by using a skeletal digital human model with 55 degrees of freedom (DOFs). Predictive dynamics approach is used to predict the carrying motion with symmetric and asymmetric loads. In this process, the model predicts joints dynamics using optimization schemes and task-based physical constraints. The results indicated that the model can realistically match human motion and ground reaction forces data during symmetric and asymmetric load carrying task. With such prediction capability the model could be used for biomedical and ergonomic studies.

Maximum load determination of nonholonomic mobile manipulator using hierarchical optimal control

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 53-65 ◽  
Author(s):  
M. H. Korayem ◽  
V. Azimirad ◽  
H. Vatanjou ◽  
A. H. Korayem
Keyword(s):  
Optimal Control ◽  
Degrees Of Freedom ◽  
Large Scale ◽  
Maximum Load ◽  
Mobile Manipulator ◽  
Interaction Terms ◽  
Different Types ◽  
Interaction Variables ◽  
Maximum Allowable Dynamic Load

SUMMARYThis paper presents a new method using hierarchical optimal control for path planning and calculating maximum allowable dynamic load (MADL) of wheeled mobile manipulator (WMM). This method is useful for high degrees of freedom WMMs. First, the overall system is decoupled to a set of subsystems, and then, hierarchical optimal control is applied on them. The presented algorithm is a two-level hierarchical algorithm. In the first level, interaction terms between subsystems are fixed, and in the second level, the optimization problem for subsystems is solved. The results of second level are used for calculating new estimations of interaction variables in the first level. For calculating MADL, the load on the end effector is increased until actuators get into saturation. Given a large-scale robot, we show how the presenting in distributed hierarchy in optimal control helps to find MADL fast. Also, it enables us to treat with complicated cost functions that are generated by obstacle avoidance terms. The effectiveness of this approach on simulation case studies for different types of WMMs as well as an experiment for a mobile manipulator called Scout is shown.

scholarly journals Simulation of Stand-to-Sit Biomechanics for Design of Lower-Limb Exoskeletons and Prostheses with Energy Regeneration

2019 ◽  
Author(s):  
Brock Laschowski ◽  
Reza Sharif Razavian ◽  
John McPhee
Keyword(s):  
Lower Limb ◽  
Electrical Energy ◽  
Mechanical Power ◽  
Future Research ◽  
Ground Reaction Forces ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Joint Torques ◽  
Reaction Forces ◽  
Body Segment Parameters

AbstractAlthough regenerative actuators can extend the operating durations of robotic lower-limb exoskeletons and prostheses, these energy-efficient powertrains have been exclusively designed and evaluated for continuous level-ground walking.ObjectiveHere we analyzed the lower-limb joint mechanical power during stand-to-sit movements using inverse dynamic simulations to estimate the biomechanical energy available for electrical regeneration.MethodsNine subjects performed 20 sitting and standing movements while lower-limb kinematics and ground reaction forces were measured. Subject-specific body segment parameters were estimated using parameter identification, whereby differences in ground reaction forces and moments between the experimental measurements and inverse dynamic simulations were minimized. Joint mechanical power was calculated from net joint torques and rotational velocities and numerically integrated over time to determine joint biomechanical energy.ResultsThe hip produced the largest peak negative mechanical power (1.8 ± 0.5 W/kg), followed by the knee (0.8 ± 0.3 W/kg) and ankle (0.2 ± 0.1 W/kg). Negative mechanical work from the hip, knee, and ankle joints per stand-to-sit movement were 0.35 ± 0.06 J/kg, 0.15 ± 0.08 J/kg, and 0.02 ± 0.01 J/kg, respectively.Conclusion and SignificanceAssuming an 80-kg person and previously published regenerative actuator efficiencies (i.e., maximum 63%), robotic lower-limb exoskeletons and prostheses could theoretically regenerate ~26 Joules of total electrical energy while sitting down, compared to ~19 Joules per walking stride. Given that these regeneration performance calculations are based on healthy young adults, future research should include seniors and/or rehabilitation patients to better estimate the biomechanical energy available for electrical regeneration among individuals with mobility impairments.

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