Full Content is available to subscribers

Subscribe/Learn More  >

A Novel Optimization Approach to Generate Physiological Human Walking Patterns

[+] Author Affiliations
Marko Ackermann

University of Stuttgart, Stuttgart, Germany

Paper No. DETC2007-35014, pp. 1597-1607; 11 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


Dynamic simulation of the musculoskeletal system is increasingly being used to study human normal and pathological walking. The common approach to predict walking patterns is based on the assumption that the central nervous system minimizes an intrinsic performance criterion. For instance, during walking, the energy expenditure per unit of distance traveled was shown to play a key role. The resulting optimal control problem is almost exclusively solved by the so-called dynamic optimization. Dynamic optimization relies on the parameterization of neural excitations using nodal values serving as optimization variables. The reconstructed neural excitations are then used to numerically integrate the differential equations describing the dynamics of the musculoskeletal system. This approach has been successfully applied to predict salient normal walking patterns, including muscle coordination and energy expenditure. In spite of the growing use of dynamic optimization, the extremely high computational effort arising from the several numerical integrations of the large-scale state equations required prevents it from being more widely applied, e.g., for bioassistive devices. Approaches based on inverse dynamics have the potential to reduce the high computation effort by avoiding the necessity of numerically integrating the state equations, but have been poorly explored in biomechanics. The development of an inverse dynamics-based approach to generate near-optimal human walking patterns that deals with the overdeterminacy of muscle actuation in conjunction with Hill-type muscle models widely used in biomechanics is proposed in this paper. The approach is based on the parameterization of the motion and muscle forces. The neural excitations are obtained by inverting the muscle contraction and activation dynamics. The compatibility between motion and muscle forces is guaranteed by checking the fulfillment of the equations of motion of the skeletal system at control points. The approach is implemented and human normal and pathological gaits are generated and applied to the design of transtibial prostheses.

Copyright © 2007 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In