Model predictive control for modeling human gait motions assisted by Vicon technology

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F20%3A00008047" target="_blank" >RIV/46747885:24220/20:00008047 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/46747885:24620/20:00008047

Výsledek na webu

<a href="http://www.iieta.org/journals/jesa/paper/10.18280/jesa.530501" target="_blank" >http://www.iieta.org/journals/jesa/paper/10.18280/jesa.530501</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.18280/jesa.530501" target="_blank" >10.18280/jesa.530501</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Model predictive control for modeling human gait motions assisted by Vicon technology

Popis výsledku v původním jazyce

Human muscles and the central nervous system (CNS) play the key role to control the human movements and activities. The human CNS determines each human motion following three steps: estimation of the movement trajectory; calculation of required energy for muscles; then perform the motion. In these three step tasks, the human CNS determines the first two steps and the human muscles conduct the third one. This paper efforts the use of model predictive control (MPC) algorithm to simulate the human CNS calculation in the case of gait motion. We first build up the human gait motion mathematical model with 5-link mechanism. This allows us to apply MPC to calculate the optimal torques at each joint and optimal trajectory for muscles. Outcomes of simulations simultaneously are compared with the real human movements captured by the Vicon motion capture technology which is the novelty of this study. Results show that tracking errors are not excessed 7%.

Název v anglickém jazyce

Model predictive control for modeling human gait motions assisted by Vicon technology

Popis výsledku anglicky

Human muscles and the central nervous system (CNS) play the key role to control the human movements and activities. The human CNS determines each human motion following three steps: estimation of the movement trajectory; calculation of required energy for muscles; then perform the motion. In these three step tasks, the human CNS determines the first two steps and the human muscles conduct the third one. This paper efforts the use of model predictive control (MPC) algorithm to simulate the human CNS calculation in the case of gait motion. We first build up the human gait motion mathematical model with 5-link mechanism. This allows us to apply MPC to calculate the optimal torques at each joint and optimal trajectory for muscles. Outcomes of simulations simultaneously are compared with the real human movements captured by the Vicon motion capture technology which is the novelty of this study. Results show that tracking errors are not excessed 7%.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF16_025%2F0007293" target="_blank" >EF16_025/0007293: Modulární platforma pro autonomní podvozky specializovaných elektrovozidel pro dopravu nákladu a zařízení</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal Europeen des Systemes Automatises

ISSN

1269-6935

e-ISSN

—

Svazek periodika

53

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

FR - Francouzská republika

Počet stran výsledku

12

Strana od-do

589-600

Kód UT WoS článku

—

EID výsledku v databázi Scopus

2-s2.0-85097500787