Forward Dynamic Optimization of Human Gait Simulations: A Global Parameterization Approach

This study presents a 2D gait model that uses global parameterization within an optimal control approach and a hyper-volumetric foot contact model. The model is simulated for an entire gait stride, i.e., two full steps. Fourier series are utilized to represent muscle forces to provide a periodic gait with bilateral symmetry. The objectives of this study were to develop a predictive gait simulation and to validate the predictions. The comparison of simulation results of optimal muscle activations, joint angles, and ground reaction forces against experimental data showed a reasonable agreement.

[1]  Amir Abbas Zadpoor,et al.  Effects of Muscle Fatigue on the Ground Reaction Force and Soft-Tissue Vibrations During Running: A Model Study , 2012, IEEE Transactions on Biomedical Engineering.

[2]  Karim Abdel-Malek,et al.  Dynamic motion planning of 3D human locomotion using gradient-based optimization. , 2008, Journal of biomechanical engineering.

[3]  Marko Ackermann,et al.  Optimality principles for model-based prediction of human gait. , 2010, Journal of biomechanics.

[4]  R. Riener,et al.  Identification of passive elastic joint moments in the lower extremities. , 1999, Journal of biomechanics.

[5]  Daniel Vélez Día,et al.  Biomechanics and Motor Control of Human Movement , 2013 .

[6]  Christopher L. Vaughan,et al.  Dynamics of human gait , 1992 .

[7]  Maarten F. Bobbert,et al.  The contribution of muscle properties in the control of explosive movements , 1993, Biological Cybernetics.

[8]  Willem Petersen,et al.  A Volumetric Contact Model for Planetary Rover Wheel/Soil Interaction , 2013 .

[9]  A. J. van den Bogert,et al.  Intrinsic muscle properties facilitate locomotor control - a computer simulation study. , 1998, Motor control.

[10]  A Baca.  Spatial reconstruction of marker trajectories from high-speed video image sequences. , 1997, Medical engineering & physics.

[11]  Kevin J Deluzio,et al.  Predicting sagittal plane biomechanics that minimize the axial knee joint contact force during walking. , 2013, Journal of biomechanical engineering.

[12]  John McPhee,et al.  STABILIZATION OF A DYNAMIC WALKING GAIT SIMULATION , 2007 .

[13]  J. Kinney,et al.  Energy Metabolism: Tissue Determinants and Cellular Corollaries , 1992 .

[14]  Werner Schiehlen,et al.  3D-Simulation of human walking by parameter optimization , 2012 .

[15]  John McPhee,et al.  A Nonlinear Volumetric Contact Model for Planetary Rover Wheel/Soil Interaction , 2013 .

[16]  Robert Michael Lewis,et al.  Pattern Search Algorithms for Bound Constrained Minimization , 1999, SIAM J. Optim..

[17]  G K Cole,et al.  The clinical biomechanics award paper 1995 Lower extremity joint loading during impact in running. , 1996, Clinical biomechanics.

[18]  Matthew Millard,et al.  Mechanics and Control of Human Balance , 2011 .

[19]  R. Brand,et al.  The biomechanics and motor control of human gait: Normal, elderly, and pathological , 1992 .

[20]  Werner Schiehlen,et al.  Dynamic Analysis of Human Gait Disorder and Metabolical Cost Estimation , 2006 .

[21]  P. Cavanagh,et al.  Plantar soft tissue thickness during ground contact in walking. , 1999, Journal of biomechanics.

[22]  F. Zajac,et al.  Muscle coordination of maximum-speed pedaling. , 1997, Journal of biomechanics.

[23]  Amir Abbas Zadpoor,et al.  Modeling muscle activity to study the effects of footwear on the impact forces and vibrations of the human body during running. , 2010, Journal of biomechanics.

[24]  Mohammad Sharif Shourijeh.  Optimal Control and Multibody Dynamic Modelling of Human Musculoskeletal Systems , 2013 .

[25]  J. Winters.  Hill-Based Muscle Models: A Systems Engineering Perspective , 1990 .

[26]  D. Thelen.  Adjustment of muscle mechanics model parameters to simulate dynamic contractions in older adults. , 2003, Journal of biomechanical engineering.

[27]  D A Winter,et al.  A multisegment computer simulation of normal human gait. , 1997, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[28]  Charles Audet,et al.  Analysis of Generalized Pattern Searches , 2000, SIAM J. Optim..

[29]  John McPhee,et al.  A Contact Modeling Method Based on Volumetric Properties , 2005 .

[30]  M. Pandy,et al.  Dynamic optimization of human walking. , 2001, Journal of biomechanical engineering.

[31]  R Happee,et al.  Inverse dynamic optimization including muscular dynamics, a new simulation method applied to goal directed movements. , 1994, Journal of biomechanics.

[32]  Marko Ackermann,et al.  Dynamics and Energetics of Walking with Prostheses , 2007 .

[33]  John McPhee,et al.  Efficient Hyper-Volumetric Contact Dynamic Modelling of the Foot Within Human Gait Simulations , 2013 .

[34]  L Stark,et al.  Estimated mechanical properties of synergistic muscles involved in movements of a variety of human joints. , 1988, Journal of biomechanics.

[35]  M. Pandy,et al.  A Dynamic Optimization Solution for Vertical Jumping in Three Dimensions. , 1999, Computer methods in biomechanics and biomedical engineering.

[36]  Akinori Nagano,et al.  Effects of Neuromuscular Strength Training on Vertical Jumping Performance— A Computer Simulation Study , 2001 .

[37]  Vladlen Koltun,et al.  Optimizing locomotion controllers using biologically-based actuators and objectives , 2012, ACM Trans. Graph..

[38]  L. Menegaldo,et al.  Biomechanical modeling and optimal control of human posture. , 2003, Journal of biomechanics.

[39]  John McPhee,et al.  Optimal Control and Forward Dynamics of Human Periodic Motions Using Fourier Series for Muscle Excitation Patterns , 2014 .

[40]  S. Bullimore,et al.  Consequences of forward translation of the point of force application for the mechanics of running. , 2006, Journal of theoretical biology.

[41]  S. Piazza,et al.  Changes in foot loading following plantar fasciotomy: a computer modeling study. , 2004, Journal of biomechanical engineering.

[42]  John McPhee,et al.  Multi-Step Forward Dynamic Gait Simulation , 2009 .

[43]  Philip E. Martin,et al.  A Model of Human Muscle Energy Expenditure , 2003, Computer methods in biomechanics and biomedical engineering.

[44]  J J O'Connor,et al.  Kinematic analysis of a multi-segment foot model for research and clinical applications: a repeatability analysis. , 2001, Journal of biomechanics.

[45]  B. R. Umberger,et al.  Effects of suppressing arm swing on kinematics, kinetics, and energetics of human walking. , 2008, Journal of biomechanics.

[46]  John McPhee,et al.  A Two-Dimensional Nonlinear Volumetric Foot Contact Model , 2010 .

[47]  M G Pandy,et al.  Static and dynamic optimization solutions for gait are practically equivalent. , 2001, Journal of biomechanics.