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research-article

Constrained dynamic optimization of sit-to-stand motion driven by B?zier curves

[+] Author and Article Information
Valerie Norman-Gerum

University of Waterloo, 200 University Avenue West, Waterloo, ON, Canada N2L 3G1
normangerum@uwaterloo.ca

John McPhee

ASME Fellow, University of Waterloo, 200 University Avenue West, Waterloo, ON, Canada N2L 3G1
mcphee@uwaterloo.ca

1Corresponding author.

ASME doi:10.1115/1.4041527 History: Received May 28, 2018; Revised August 30, 2018

Abstract

The purpose of this work is two-fold: first, to synthesize a motion pattern imitating sit-to-stand and second, to compare the kinematics and dynamics of the resulting motion to healthy sit-to-stand. Predicting sit-to-stand in simulation inspired the creation of three models: a biomechanical model, a motion model, and performance criteria as a model of preference. First, the human is represented as three rigid links in the sagittal plane. This model captures aspects of joint, foot, and buttocks physiology, which makes it the most comprehensive planar model for predicting sit-to-stand to date. Second, candidate sit-to-stand trajectories are described geometrically by a set of B├ęzier curves which seem well suited to predictive biomechanical simulations. Third, with the assumption that healthy people naturally prioritize mechanical efficiency, disinclination to a motion is described as a cost function of joint torques, and for the first time, physical infeasibility including slipping and falling. This new dynamic optimization routine allows for motions of gradually increasing complexity while the model's performance is improving. Using these models and optimal control strategy together has produced gross motion patterns characteristic of healthy sit-to-stand when compared with normative data from the literature.

Copyright (c) 2018 by ASME
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