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dc.contributor.authorFebrer Nafría, Miriam
dc.contributor.authorPallarès López, Roger
dc.contributor.authorFregly, Benjamin Jon
dc.contributor.authorFont Llagunes, Josep Maria
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Enginyeria Biomèdica
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.identifier.citationFebrer, M. [et al.]. Comparison of different optimal control formulations for generating dynamically consistent crutch walking simulations using a torque-driven model. "Mechanism and machine theory", Desembre 2020, vol. 154, p. 104031:1-104031:13.
dc.description.abstractWalking impairment due to spinal cord injury can be improved using active orthoses, together with some type of external support such as crutches for balance. This study explores how optimal control problem formulation affects the ability to generate dynamically consistent crutch walking simulations with active orthosis assistance that closely reproduce experimental data. The investigation compares eight optimal tracking problem formulations using a torque-driven full-body skeletal model of a healthy subject walking with active knee-ankle-foot orthoses and forearm crutches. We have found that small adjustments to ground reactions are required to achieve convergence, tracking of joint instead of marker coordinates significantly improves convergence, and minimising joint jerks instead of joint accelerations has only a minor effect on the problem convergence. These results provide guidance for future work that seeks to develop predictive optimal control simulations that can identify orthosis control parameters that maximise improvement in walking function on an individual patient basis.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica
dc.subject.lcshBiomedical engineering
dc.subject.lcshSpinal cord--Wounds and injuries
dc.subject.lcshJoints--Range of motion
dc.subject.otherDirect collocation optimal control
dc.subject.otherMotion tracking
dc.subject.otherCrutch walking
dc.subject.otherKnee-ankle-foot orthosis
dc.titleComparison of different optimal control formulations for generating dynamically consistent crutch walking simulations using a torque-driven model
dc.subject.lemacEnginyeria biomèdica
dc.subject.lemacMedul·la espinal--Ferides i lesions
dc.contributor.groupUniversitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
dc.rights.accessRestricted access - publisher's policy
dc.description.versionPostprint (author's final draft)
local.citation.authorFebrer, M.; Pallares, R.; Fregly, B.J.; Font-Llagunes, J.M.
local.citation.publicationNameMechanism and machine theory

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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain