Optimization-based dynamic human gait prediction : Application of predictive dynamics method

Language: English

Published by VDM Verlag Dr. Müller, 2011

3639328418 / 9783639328417

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nach der Bestellung gedruckt Neuware - Printed after ordering - A new methodology, called predictive dynamics, is introduced in this work to simulate human walking using a spatial digital human model. The digital human model has 55 degrees of freedom. The resultant action of all the muscles at a joint is lumped and represented by the torque at each degree of freedom. In addition, the cubic B-spline interpolation is used for time discretization and the well- established robotic formulation of the Denavit- Hartenberg (DH) method is used for kinematics analysis of the mechanical system. The recursive Lagrangian formulation is used to develop the equations of motion. The ground reaction forces (GRF) are obtained from a novel two-step active- passive algorithm. The problem is formulated as a nonlinear optimization problem. A unique feature of the formulation is that the equations of motion are not integrated explicitly, but evaluated by inverse dynamics in the optimization process. Besides normal walking, several other cases are also considered, such as walking with a shoulder backpack of varying loads, walking at different speed, walking with asymmetric step lengths, and walking with reduced torque limits.…

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Title
Optimization-based dynamic human gait prediction : Application of predictive dynamics method
Author
Yujiang Xiang
Publisher
VDM Verlag Dr. Müller
Publication year
2011
Condition
Neu
Binding
Taschenbuch
Language
English
ISBN 10
3639328418
ISBN 13
9783639328417
Item weight
225 grams
Dimensions
220x150x10 mm

AHA-BUCH GmbH

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