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Efficient Forward Dynamics Simulation and Optimization of Human Body Dynamics

Stelzer, Maximilian ; Stryk, Oskar von (2006)
Efficient Forward Dynamics Simulation and Optimization of Human Body Dynamics.
In: ZAMM - Journal of Applied Mathematics and Mechanics, 86 (10)
doi: 10.1002/zamm.200610290
Artikel, Bibliographie

Kurzbeschreibung (Abstract)

The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion. In contrast to the inverse dynamics simulation the forward dynamics simulation enables to consider very general problem statements in principle. The paper presents a new approach to the forward dynamics simulation and optimization of human body dynamics which overcomes the enormous computational cost of current approaches for solving the resulting optimal control problems. The presented approach is based on a suitable modeling of the dynamics of the musculoskeletal system in combination with a tailored direct collocation method for optimal control. First numerical results for a human kick demonstrate an improvement in computational time of two orders of magnitude when compared to standard methods.

Typ des Eintrags: Artikel
Erschienen: 2006
Autor(en): Stelzer, Maximilian ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Efficient Forward Dynamics Simulation and Optimization of Human Body Dynamics
Sprache: Englisch
Publikationsjahr: Oktober 2006
Titel der Zeitschrift, Zeitung oder Schriftenreihe: ZAMM - Journal of Applied Mathematics and Mechanics
Jahrgang/Volume einer Zeitschrift: 86
(Heft-)Nummer: 10
DOI: 10.1002/zamm.200610290
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Kurzbeschreibung (Abstract):

The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion. In contrast to the inverse dynamics simulation the forward dynamics simulation enables to consider very general problem statements in principle. The paper presents a new approach to the forward dynamics simulation and optimization of human body dynamics which overcomes the enormous computational cost of current approaches for solving the resulting optimal control problems. The presented approach is based on a suitable modeling of the dynamics of the musculoskeletal system in combination with a tailored direct collocation method for optimal control. First numerical results for a human kick demonstrate an improvement in computational time of two orders of magnitude when compared to standard methods.

Freie Schlagworte: Forward dynamics simulation, forward dynamics optimization, multibody systems, optimal control, biomechanics, human motion
Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 28 Okt 2019 11:17
Letzte Änderung: 28 Okt 2019 11:17
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