Generating dynamic simulations of movement using computed muscle control

被引:483
作者
Thelen, DG
Anderson, FC [1 ]
Delp, SL
机构
[1] Stanford Univ, Dept Mech Engn, Biomech Engn Div, Stanford, CA 94305 USA
[2] Univ Wisconsin, Dept Mech Engn, Madison, WI 53706 USA
关键词
musculoskeletal modeling; dynamic simulation; optimization; control; pedaling;
D O I
10.1016/S0021-9290(02)00432-3
中图分类号
Q6 [生物物理学];
学科分类号
071011 ;
摘要
Computation of muscle excitation patterns that produce coordinated movements of muscle-actuated dynamic models is an important and challenging problem. Using dynamic optimization to compute excitation patterns comes at a large computational cost, which has limited the use of muscle-actuated simulations. This paper introduces a new algorithm, which we call computed muscle control, that uses static optimization along with feedforward and feedback controls to drive the kinematic trajectory of a musculoskeletal model toward a set of desired kinematics. We illustrate the algorithm by computing a set of muscle excitations that drive a 30-muscle, 3-degree-of-freedom model of pedaling to track measured pedaling kinematics and forces. Only 10min of computer time were required to compute muscle excitations that reproduced the measured pedaling dynamics, which is over two orders of magnitude faster than conventional dynamic optimization techniques. Simulated kinematics were within 1degrees of experimental values, simulated pedal forces were within one standard deviation of measured pedal forces for nearly all of the crank cycle, and computed muscle excitations were similar in timing to measured electromyographic patterns. The speed and accuracy of this new algorithm improves the feasibility of using detailed musculoskeletal models to simulate and analyze movement. (C) 2003 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码:321 / 328
页数:8
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