Prosthesis Design by Robotic Approaches Part 2: Optimization Approach
Robotic approaches are proposed for the design of devices or therapies to improve gait quality of persons presenting gait disorders. The inverse dynamics robotic approach for skeletal models as discussed by Schiehlen and Ackermann (2005) will be extended and applied to musculoskeletal system of disabled. An optimization approach is proposed and discussed that permits the computation of muscle forces, activations and neural excitations by minimizing a more accurate estimation of the metabolical cost. In part 1 of this paper, see Schiehlen and Ackermann (2006), the modeling of muscles and the evaluation of the corresponding metabolical cost is reported in detail. Finally, an example of the lower limb is used to illustrate the procedure of combining an optimal skeletal design with a minimum of metabolical cost.
KeywordsMuscle Force Ground Reaction Force Dynamic Optimization Metabolical Cost Contractile Element
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