Research Papers

Optimal Control and Forward Dynamics of Human Periodic Motions Using Fourier Series for Muscle Excitation Patterns

[+] Author and Article Information
Mohammad Sharif Shourijeh

Ph.D. Candidate
Motion Research Group,
Department of Systems Design Engineering,
University of Waterloo,
Waterloo, N2L3G1, Canada
e-mail: msharifs@uwaterloo.ca

John McPhee

Fellow ASME
Department of Systems Design Engineering,
University of Waterloo,
Waterloo, N2L3G1, Canada
e-mail: mcphee@real.uwaterloo.ca

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received December 19, 2012; final manuscript received June 21, 2013; published online September 12, 2013. Assoc. Editor: Aki Mikkola.

J. Comput. Nonlinear Dynam 9(2), 021005 (Sep 12, 2013) (7 pages) Paper No: CND-12-1224; doi: 10.1115/1.4024911 History: Received December 19, 2012; Revised June 21, 2013

Forward dynamic simulations of a periodic forearm motion were developed in order to explore the efficiency of using a Fourier-series-based parameterization function for muscle excitations within dynamic optimization. The specific objectives of this study were to develop such a simulation and validate the predictions. Several time-integral objective functions, including muscle activation effort and metabolic energy, were used to see the effects of each on the optimal results. For validation, the motion and muscle electromyograms (EMGs) of three adult subjects were captured, where each trial was replicated twice. Fourier-series pattern parameterization was found to be an efficient choice for the muscle excitations in simulating human musculoskeletal dynamics.

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Fig. 1

Moment arms plotted versus the elbow flexion angle. The moment arm data for all muscles is adopted from [21] except for BRA, which is from [22].

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Fig. 2

Simulated versus average measured forearm motion

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Fig. 3

Optimal muscle excitations and forces: (a) and (b) with J1, and (c) and (d) with J2

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Fig. 4

Optimal muscle excitations and forces: (a) and (b) with J3, and (c) and (d) with J4

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Fig. 5

Optimal muscle excitations and forces with J5

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Fig. 6

Comparison of the simulation results for muscle excitation u in case activation effort J4 is minimized with the measured EMGs depicted in a mean ±1 standard deviation



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