Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion
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Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motionData
2018-07-09Cita bibliográfica
Mouzo, F., Lugris, U., Pamies-Vila, R. et al. Multibody Syst Dyn (2018) 44: 1. https://doi.org/10.1007/s11044-018-09634-4
Resumo
[Abstract]
Gait analysis is commonly addressed through inverse dynamics. However, forward dynamics can be advantageous when descending to muscular level, as it allows that activation and contraction equations are integrated with motion thus providing better dynamic consistency, or when studying assisted gait, as it enables the estimation of the interaction forces between subject and devices. Control-based methods seem to be the most natural choice to carry out the forward-dynamics analysis of an acquired gait, but several options exist in their application. The paper explores such options for healthy and
assisted gait, and concludes that the computed torque control of all the subject's degrees of freedom is the most reliable alternative. Moreover, the study of its more problematic underactuated variant accompanied by contact models showed to be connected to neighbor challenging topics as gait prediction or walking simulation of humanoids.
Palabras chave
Multibody dynamics
Human models
Gait simulation
Forward dynamics
Underactuated systems
Contact models
Assistive devices
Human models
Gait simulation
Forward dynamics
Underactuated systems
Contact models
Assistive devices
Descrición
This is a pre-print of an article published in Multibody System Dynamics. The final
authenticated version is available online at: https://doi.org/10.1007/s11044-018-09634-4
Versión do editor
ISSN
1384-5640