论文信息 - Mathematical modeling of the dynamics of the human gait in the saggital plane

Mathematical modeling of the dynamics of the human gait in the saggital plane

We propose a new formulation of the problem of mathematical modeling of the human gait as an optimal control problem for a nonlinear multidimensional mechanical system with phase constraints given by expeimental data. We give the results of a solution of this optimal control problem obtained using Fourier-spline approximation of independently varying functions and minimizing an objective function over maximally likely directions.

V. E. Berbyuk | G. V. Grasyuk | N. I. Nishchenko

[1] David Mautner Himmelblau,et al. Applied Nonlinear Programming , 1972 .

[2] R Beckett,et al. An evaluation of the kinematics of gait by minimum energy. , 1968, Journal of biomechanics.

[3] D. Jacobson,et al. Studies of human locomotion via optimal programming , 1971 .

[4] V. Berbyuk. Dynamics and Optimal Control Problems for Biotechnical Systems “Man-Prosthesis” , 1997 .

[5] H. Hatze,et al. Neuromusculoskeletal control systems modeling--A critical survey of recent developments , 1980 .

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

[7] Control of walking machine , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[8] M. Nagurka,et al. Fourier-Based Optimal Control of Nonlinear Dynamic Systems , 1990 .

[9] T. Oberg,et al. Joint angle parameters in gait: reference data for normal subjects, 10-79 years of age. , 1994, Journal of rehabilitation research and development.