Optimization of multiple phase human movements
(English)In: Multibody system dynamics, ISSN 1384-5640, E-ISSN 1573-272XArticle in journal (Other academic) Submitted
When simulating human movements it is frequently desirable to optimize multiple phase movements where the phases represent, e.g., different contact conditions. The different constraints are usually acting in parts of the movements and their time durations are in most cases unknown. Therefore a multiple phase free-time optimization method is formulated in this work, with phase times included as variables. Through a temporal finite element approach, a discrete representation is derived and a nonlinear optimization algorithm solves for the rather high number of variables (∼ 6000) and constraints (∼ 15000) in the presented numerical problem. The method is applied to a test problem and a more realistic problem in order to test some basic aspects as well as to see its performance in its intended applications, biomechanical simulations. First a four degrees of freedom test problem, representing a standing high jump, is solved. Then a sagittal eight degrees of freedom model is used with application to a human backward somersault, including preparing movement, flight phase and landing. The numerical performance as well as some application specific results are discussed. The method description is general and applicable to other movements in its presented format.
IdentifiersURN: urn:nbn:se:kth:diva-91372OAI: oai:DiVA.org:kth-91372DiVA: diva2:509691
FunderSwedish Research Council
QS 20122012-03-132012-03-132012-09-10Bibliographically approved