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ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

ARUP; ISBN: 978-0-9562121-5-3 - CMBBE 2012 - Cardiff University

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motion. It showed new insight of the intrinsic dynamic hidden by uncertainties<br />

propagation.<br />

Our method is subject to limitations. Firstly, parametric optimization can be currently<br />

only implemented for smooth dynamic movements. As a result, high impact motions are<br />

not handling by this method. Secondly, the criterion does not consider force plate<br />

uncertainties. Kuo (1998) and Cahoüet et al. (2002) injected these parameters within the<br />

least-square optimization. Such an approach could be also carried out by addition of a<br />

weighting matrix with the criterion. However, the influence of these uncertainties may<br />

be negligible because force plate manufacturers proposed high accurate sensors<br />

currently. Thirdly, joint torques were adjusted while keeping a classical anthropometric<br />

model. Results obtained using our dynamic optimization approach may be improved by<br />

integrating a preliminary numerical process. Inertial parameters could be personalized<br />

by means of optimization or identification methods published recently by Riemer et al.<br />

(2008) and Monnet et al. (2008), respectively.<br />

In conclusion, the acceleration adjustment method improves the dynamic model by<br />

proposing input kinematic data in accordance with force measurement. This innovative<br />

method allowed computing joint accelerations without implement the double<br />

differentiation. Improving joint torque computation should lead to better analyze human<br />

movement coordination perform during complex tasks.<br />

6. REFERENCES<br />

1. Riemer R., Hsiao-Wecksler E. and Zhang X., Uncertainties in inverse dynamics<br />

solutions: a comprehensive analysis and an application to gait, Gait Posture,<br />

2008,Vol. 27, 578-88<br />

2. Delp S., Anderson F., Arnold A., Loan P., Habib A., John C. and Guendelman, E.,<br />

OpenSim: open-source software to create and analyze dynamic simulations of<br />

movement, IEEE Trans. Biomed. Eng., 2007, Vol. 54(11), 1940-50.<br />

3. Riemer R. and Hsiao-Wecksler E., Improving net joint torque calculations through a<br />

two-step optimization method for estimating body segment parameters, J.<br />

Biomech. Eng., 2009, Vol. 131(1).<br />

4. Ehrig R., Taylor W., Duda G., and Heller M., A survey of formal methods for<br />

determining the centre of rotation of ball joints, J. Biomech., 2006, Vol. 39(15),<br />

2798-809.<br />

5. Blajer W. and Czaplicki A., Modeling and inverse simulation of somersaults on the<br />

trampoline, Journal of biomechanics, 2001, Vol. 34(12), 1619-29.<br />

6. Kuo A., A least-squares estimation approach to improving the precision of inverse<br />

dynamics computations, J. Biomech. Eng., 1998, Vol. 120, 148-59.<br />

7. Cahouët V., Martin L. and Amarantini D., Static optimal estimation of joint<br />

accelerations for inverse dynamics problem solution, J. Biomech., 2002, Vol.<br />

35(11), 1507-13.<br />

8. Luh J., Walker M. and Paul R., On-line Computaional sheme for mechanical<br />

manipulators, J. Dyn. Syst.-T. ASME, 1980, Vol.102, 69-76.<br />

9. de Leva P., Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters, J.<br />

Biomech., 1996, Vol. 29(9), 1223-30.<br />

10. Monnet T., Atchonouglo E., Vallée C. and Fortuné D, Identification of the ten<br />

inertia parameters of a rigid body, J. Appl. Math. Mech., 2008, Vol. 72, 22-25.

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