Optimization-based dynamic 3D human running prediction: effects of foot location and orientation

Abstract

2015). Optimization-based dynamic 3D human running prediction: effects of foot location and orientation. Robotica, 33, pp 413-435 SUMMARY This paper presents optimization-based dynamic three-dimensional (3D) human running prediction. A predictive dynamics method is used to formulate the running problem, and normal running is formulated as a symmetric and cyclic motion. In addition, a slow jog along curved paths has been formulated. It is a non-symmetric running motion, so a stride formulation has been used. The dynamic effort and impulse are used as the performance measure, and the upper body yawing moment is also included in the performance measure. The joint angle profiles and joint torque profiles are calculated for the full-body human model, and the ground reaction force is determined. The effects of foot location and orientation on the running motion prediction are simulated and studied. Simulation results from this methodology show good correlation with experimental data obtained from human subjects.

Optimization Based Dynamic Human Motion Prediction with Modular Exoskeleton Robots as Interactive Forces: The Case of Weight Lifting Motion

“…Other is Santos which is optimization-based motion simulation so called predictive dynamics [6]. Some of human motion simulation is developed under optimization-based motion simulation [7,8]. And, lifting motions are studied with optimization based technique as well [9,10].…”