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Optimal control of a biomechanical multibody model for the dynamic simulation of working tasks

 
: Roller, M.; Björkenstam, S.; Linn, J.; Leyendecker, S.

:
Volltext urn:nbn:de:0011-n-4772818 (3.8 MByte PDF)
MD5 Fingerprint: 12b976e3592e8fc050a0333dcad7eb1a
Erstellt am: 20.9.2019


Valasek, M. ; Czech Technical University, Prag; European Community on Computational Methods in Applied Science -ECCOMAS-:
8th ECCOMAS Thematic Conference on Multibody Dynamics 2017. Conference Proceedings : Prague, June 19 - 22, 2017
Prag: Czech Technical University, 2017
ISBN: 978-80-01-06173-2 (Online)
ISBN: 978-80-01-06174-9 (Print)
S.817-826
Thematic Conference on Multibody Dynamics <8, 2017, Prague>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer ITWM ()

Abstract
In this contribution a framework for digital human modelling using optimal control of a biomechanical multibody model is presented. The skeleton of the human body is represented as a multibody system, actuated by simplified Hill muscles. Motions of the digital human model are generated by optimal control with different objective functions. The optimal control problem is discretized by the DMOCC approach, using a variational integrator for the constrained equations of motion. With this approach, the task of "lifting of a box from a lower to a higher position" is simulated as a test example. Both arms are modeled with seven degrees of freedom each, actuated by 29 muscles. In the optimal control problem an arbitrary grasp position is included, as well as frictional contact between the box and the hand.

: http://publica.fraunhofer.de/dokumente/N-477281.html