Optimal design of musculoskeletal models using force field data.
Optimal design of musculoskeletal models using force field data.
复制标题
使用力场数据优化肌肉骨骼模型的设计。
DOI：
10.1109/iembs.2008.4650015
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Pai,DineshK
中科院分区：
文献类型：
--
作者：
Yeo,SangHoon;Tresch,MatthewC;Pai,DineshK
我们提出了一个肌肉骨骼模型的优化设计框架。通过原位激活特定肌肉来测量末端执行器处的六个自由度的广义力场。鉴于我们有一个肌肉骨骼仿真模型，一组不确定的设计参数，该框架选择的最佳参数，最大限度地减少模拟和测量的力场数据之间的差异。为了确保通用性，该框架是模型独立的，这意味着可以应用任何类型的肌肉骨骼模型。作为一种推广的方法，PID（比例-积分-微分）控制器和经验雅可比矩阵被用来正确地模拟力场，而不会遭受数值问题，如稳定性和不确定性。对大鼠后肢肌肉的案例研究表明该框架具有令人满意的性能。
We propose an optimal design framework for a musculoskeletal model. A six degrees of freedom generalized force field at an end effector is measured by activating a specific muscle in-situ. Given that we have a musculoskeletal simulation model with a set of undetermined design parameters, the framework chooses the optimal parameters which minimize the difference between simulated and measured force field data. To ensure generality, the framework is model independent, which means that any type of musculoskeletal model can be applied. As a generalized method, a PID (Proportional-Integral-Derivative) controller and an empirical Jacobian are used to correctly simulate the force field without suffering from numerical issues such as stability and indeterminacy. Case studies of the muscles of the rat hind limb show a satisfactory capability of the framework.