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首页> 外文期刊>Journal of Biomechanics >A 'cheap' optimal control approach to estimate muscle forces in musculoskeletal systems.
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A 'cheap' optimal control approach to estimate muscle forces in musculoskeletal systems.

机译：一种“廉价”的最佳控制方法，用于估计肌肉骨骼系统中的肌肉力量。

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摘要

This paper shows a new method to estimate the muscle forces in musculoskeletal systems based on the inverse dynamics of a multi-body system associated optimal control. The redundant actuator problem is solved by minimizing a time-integral cost function, augmented with a torque-tracking error function, and muscle dynamics is considered through differential constraints. The method is compared to a previously implemented human posture control problem, solved using a Forward Dynamics Optimal Control approach and to classical static optimization, with two different objective functions. The new method provides very similar muscle force patterns when compared to the forward dynamics solution, but the computational cost is much smaller and the numerical robustness is increased. The results achieved suggest that this method is more accurate for the muscle force predictions when compared to static optimization, and can be used as a numerically 'cheap' alternative to the forward dynamics and optimal control in some applications.
机译：本文展示了一种基于多体系统关联最优控制的逆动力学估计肌肉骨骼系统中肌肉力量的新方法。通过最小化时间积分成本函数并增加扭矩跟踪误差函数来解决冗余执行器问题，并通过微分约束来考虑肌肉动力学。将该方法与先前实现的人体姿势控制问题进行了比较，该问题使用正向动力学最优控制方法进行了解决，并与具有两个不同目标函数的经典静态优化进行了比较。与前向动力学解决方案相比，该新方法提供了非常相似的肌肉力模式，但计算成本要小得多，并且数值鲁棒性增加。所获得的结果表明，与静态优化相比，该方法对于肌肉力的预测更为准确，并且在某些应用中可以用作数值上“廉价”的替代前向动力学和最优控制的方法。

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