Forward dynamics for gait analysis as an intermediate step to motion prediction
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hdl:2117/21426
Tipus de documentText en actes de congrés
Data publicació2013
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Abstract
Abstract—Human motion prediction through
computational simulation can serve as a tool to anticipate the
result of surgery or to help in the design of
prosthetic/orthotic devices. The latter is the motivation in a
project being run by the authors, devoted to the design of an
active stance-control knee-ankle-foot orthosis (SCKAFO) as
an assistive device for the gait of incomplete spinal cord
injured (SCI) subjects. Optimization is a well-suited
technique to tackle the human motion prediction problem,
and several approaches have been proposed in the literature.
However, no matter which is the used approach, the
implementation of these methods represents a great
challenge in terms of both convergence and efficiency.
Therefore, the authors intend to firstly address the analysis
of a certain measured motion through forward dynamics,
which can be considered as an intermediate step towards the
prediction problem, since it requires dynamical consistency
too, but does not suffer from the same high amount of
uncertainty. Consequently, a systematic study of the
different alternatives to obtain, through forward dynamics,
the drive efforts at joint level that produce a certain known
motion is started in this paper. Three model-based control
methods have been implemented for the gait of a healthy
subject, and their performances have been compared.
CitacióCuadrado, J. [et al.]. Forward dynamics for gait analysis as an intermediate step to motion prediction. A: International and National Conference on Machines and Mechanisms. "Proceedings of the 1st International and 16th National Conference on Machines and Mechanisms". Roorkee: 2013, p. 1-8.
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INACOMM13-forward.pdf | 900,1Kb | Accés restringit |