Designing optimal controls by parameter optimization for a stance-control knee-ankle-foot orthosis

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Title:	Designing optimal controls by parameter optimization for a stance-control knee-ankle-foot orthosis
Author:	Font Llagunes, Josep Maria; García-Vallejo, Daniel
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
Abstract:	Inverse dynamics simulation is often used in robotic and mechatronic systems to track a desired trajectory by feed-forward control. Musculoskeletal multibody systems are highly overactuated and show a switching number of closed kinematical loops. The method of inverse dynamics is also successfully applied to overactuated systems by parameter optimization for two- and three-dimensional models of the human musculoskeletal system. The presented simulation approach is fully based on optimization
Subject(s):	-Àrees temàtiques de la UPC::Enginyeria biomèdica::Biomecànica -Biomechanics -: Parameter optimization -Active orthosis -Optimal control -Spinal cord injury -Biomecànica
Rights:	Attribution-NonCommercial-NoDerivs 3.0 Spain http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Published version Conference Object
Published by:	Centre Internacional de Mètodes Numèrics en Enginyeria (CIMNE)
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