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Synthesis of standing-up trajectories using dynamic optimization.

机译：使用动态优化合成直立轨迹。

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Dynamic optimization as a tool to compute standing-up trajectories was investigated. Sit-to-stand manoeuvres in five intact persons and five trans-femoral amputees were measured. Movements and ground reaction forces acting on the body were recorded. A five-segment 3D dynamic model of standing-up was developed. In each particular subject, the optimization criterion which yielded trajectories that best resemble the measured standing-up movement was determined. Since the intact persons used considerably different criteria in choosing the standing-up trajectories than the amputees, the optimal trajectories were computed by minimizing cost functionals (CF) with distinctive structures for each group of individuals. In intact persons, a unique cost functional was found which yielded realistic standing-up manoeuvres. In amputees, subject-specific sets of parameters indicating slightly different preferences in optimizing the effort of particular muscle groups were used.
机译：研究了动态优化作为计算站立轨迹的工具。测量了五名完整人和五名经股截肢者的坐姿动作。记录了作用在人体上的运动和地面反作用力。建立了五段式站立3D动态模型。在每个特定的主题中，确定产生最类似于所测量的站立运动的轨迹的优化标准。由于完好无损的人在选择站立的轨迹时使用的截肢者与截肢者使用的标准大不相同，因此，通过最小化成本函数（CF）来最小化每组个体的成本函数（CF）来计算最佳轨迹。在完好无损的人中，发现了一种独特的成本功能，产生了现实的站立动作。在截肢者中，使用了特定于受试者的参数集，这些参数指示在优化特定肌肉组的努力方面略有不同的偏好。

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