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- W3136103223 abstract "This work establishes a connection between a recently developed optimal control simulation method and biomechanical modelling aspects of muscle actuated human motion at the example of the human upper extremity. The goal is to provide a method that enables the investigation of human motion modelled as multibody dynamics and the solution of upcoming optimal control problems with physiologically motivated objective functions. A method like this is especially useful to improve prostheses or the performance of athletes. Moreover, ergonomical questions concerning workplace design or everyday activities can be examined and diagnoses of physicians can be supported, for example to assess relieving postures. Within this topic, optimisation problems occur at two different levels. On the one hand, in biomechanics usually more muscles are involved to actuate a joint than degrees of freedom are present, which is commonly referred to as redundancy. On the other hand, there is an infinite number of possibilities to perform a motion between two given states. The presented approach combines both optimisation problems by including muscle actuation in the optimal control problem formulation.A large variety of numerical examples is presented, dealing with typical motions of the human upper extremity. The implementation of the rigid body actuation thereby comprises models with complete joint torque or complete muscle actuation as well as mixed systems. Optimal control simulations of grasping motions are examined with the human finger model and the results are exemplarily compared to literature and motion capturing experiments. Further simulations with the human arm model cover steering, weight lifting, ergonomics of workplace motions and sports motions." @default.
- W3136103223 created "2021-03-29" @default.
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- W3136103223 date "2014-01-01" @default.
- W3136103223 modified "2023-09-24" @default.
- W3136103223 title "Biomechanics and optimal control simulations of the human upper extremity" @default.
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