Turning a Corner

Abstract

Recently, 3D gait simulations were generated by solving optimal control problems using musculoskeletal models. However, these simulations lack predictive power and require long computation time. We formulated implicit dynamics for a full-body 3D musculoskeletal model to solve optimal control problems in a computationally efficient way. We show that with the implicit formulation a full-body predictive simulation of curved running can be generated from a random initial guess in about two hours.

Simulations

Publications

Nitschke M., Dorschky E., Schlarb H., Eskofier B., van den Bogert AJ., Koelewijn A.:
Turning a corner in predictive musculoskeletal simulations of gait using implicit dynamics
Dynamic Walking 2019 (Canmore, Alberta, 3. June 2019 - 6. June 2019)
In: 14th Annual Dynamic Walking Conference 2019 2019
URL: https://www.mad.tf.fau.de/files/2019/05/Nitschke_Dynamic_Walking.pdf
BibTeX: Download

Nitschke M., Dorschky E., Heinrich D., Schlarb H., Eskofier B., Koelewijn A., van den Bogert AJ.:
Efficient trajectory optimization for curved running using a 3D musculoskeletal model with implicit dynamics
In: Scientific Reports (2020), Article No.: 17655
ISSN: 2045-2322
DOI: 10.1038/s41598-020-73856-w
URL: https://www.nature.com/articles/s41598-020-73856-w
BibTeX: Download