Optimal coordination and control of posture and locomotion. (English) Zbl 0738.73063

An algorithm capable for the coordination and control of functional neuromuscular stimulation as well as of protheses is presented. The rigid body mechanics of musculoskeletial motion is formulated according to Lagrange’s equations. The coordination of the muscular forces is considered at the level of joint torque. The optimal control problem discussed by the authors is to minimize errors in the applied torques and the energy consumption. This problem is solved by means of the Hamilton- Jacobi equation, where explicit solutions are obtained. Stability is investigated with the Lyapunov function theory, showing that global asymptotic stability holds. An anthromorphic five-link model climbing a step is treated as illustrative example. The problem of parameter identification of the model from experimental data is considered in a special section.
Reviewer: H.Irschik (Linz)


74L15 Biomechanical solid mechanics
92C10 Biomechanics
70Q05 Control of mechanical systems
70H20 Hamilton-Jacobi equations in mechanics
70K20 Stability for nonlinear problems in mechanics
Full Text: DOI


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