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检索条件"机构=Optimization in Robotics and Biomechanics"

共 28 条记录，以下是11-20 订阅

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Optimal control for balance assistance using a robotic rollator 6

Optimal control for balance assistance using a robotic rolla...

引用

6th IEEE RAS/EMBS International Conference on Biomedical robotics and Biomechatronics, BioRob 2016

作者： Corradi, Davide Ho Hoang, Khai-Long Mombaur, Katja Interdisciplinary Center for Scientific Computing Optimization in Robotics and Biomechanics Group University of Heidelberg Germany

ISBN: (纸本)9781509032877

Research concerning intelligent robotic mobility AIDS for elderly people is raising in importance due to the prediction of the increase in the average age of the population in the near future and the consequent lack in professional care that can be expected. Such devices could provide not only navigational and cognitive assistance, but also enhanced physical support, for example when the patient is standing up or losing balance while walking or standing. This work considers a robotic rollator equipped with actuated handles which are capable of motions on the sagittal plane. The aim is to develop a methodology, based on optimal control and rigid body models of the user and of the device, to compute optimal handle trajectories to help the user regain an upright, balanced posture starting from perturbed initial conditions while standing without walking. Handle trajectories for different initial perturbations of the patient are computed for the MOBOT project rollator device and presented. © 2016 IEEE.

关键词： Intelligent robots

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Towards Low Back Support with a Passive Biomimetic Exo-Spine

Towards Low Back Support with a Passive Biomimetic Exo-Spine

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International Conference on Rehabilitation robotics

作者： Matthias B. Naf Laura De Rijcke Carlos Rodriguez Guerrero Matthew Millard Bram Vanderborght Dirk Lefeber Department of Mechanical Engineering Robotics and Multibody Mechanics (R&MM) Research Group Vrije Universiteit Brussel Optimization in Robotics and Biomechanics (ORB) Group Interdisciplinary Center for Scientific Computation (IWR) Heidelberg University

ISBN: (纸本)9781538622971

Low-Back Pain (LBP) affects a large portion of the working population. Preventive exoskeletons have been proposed to reduce the moments on the lower back, specifically around the lumbosacral (L5/S1) joint. High correlation has been shown, between reducing the moments around the L5/S1 joint and intervertebral compression forces, which in turn have been identified as a risk factor for developing LBP. However, most passive back support exoskeletons use rigid plates or stiff beams to support the spine that limit the range of motion of the wearer. A large range of motion and versatility are especially desirable for industrial applications. To overcome these limitations, a passive biomimetic exo-spine has been designed, modelled and an initial prototype tested. Its potential to allow for a large range of motion, whilst at the same time limiting the most extreme and potentially harmful postures has been shown.

关键词： Joint Range of Motion back propping Biomimetics Moment of force LBP gene LBP Risk Factors spines Spine rigid plate

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Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground

Inverse optimal control based identification of optimality c...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Debora Clever R. Malin Schemschat Martin L. Felis Katja Mombaur Optimization in Robotics & Biomechanics (ORB) University of Heidelberg

ISBN: (纸本)9781509032884

Understanding the underlying concepts of human locomotion is important for many fields of research. Based on the assumption that human motions are optimal, we propose an inverse optimal control (IOC) based approach to identify the optimality criteria in human walking. To this end, human walking is modeled as a non-linear optimal control problem with a linear combination of elementary optimality functions as objective and a hybrid dynamics multi-body system as constraints. The developed IOC-framework is set up in a modular way and exploits the natural bi-level structure of the problem. It allows for a great flexibility in the choice of outer optimization techniques and inner dynamic models. In the present work, we use the developed IOC approach to identify weights of seven elementary criteria for seven walking motions captured from six different subjects. The considered optimality criteria address the minimization of joint torques for four sets of joints, head stabilization, the step length, and the step frequency. For all trials the algorithm performs successfully. Even though the identified weights differ observably between subjects, which explains the different walking styles, the correlation matrix gives rise to the hypothesis that there exists a significant correlation of optimality across subjects. The identification of optimality criteria in human walking is a very important issue for all disciplines, where a prediction of human behavior is needed. For example in medical applications to improve therapies or to develop new mobility devices, in sport science to improve training plans or in humanoid robotics to develop new walking strategies.

关键词： Legged locomotion Optimal control Dynamics Mathematical model optimization Computational modeling Motion segmentation

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Optimal control for balance assistance using a robotic rollator

Optimal control for balance assistance using a robotic rolla...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Davide Corradi Khai-Long Ho Hoang Katja Mombaur Optimization in Robotics and Biomechanics Group University of Heidelberg

ISBN: (纸本)9781509032884

Research concerning intelligent robotic mobility aids for elderly people is raising in importance due to the prediction of the increase in the average age of the population in the near future and the consequent lack in professional care that can be expected. Such devices could provide not only navigational and cognitive assistance, but also enhanced physical support, for example when the patient is standing up or losing balance while walking or standing. This work considers a robotic rollator equipped with actuated handles which are capable of motions on the sagittal plane. The aim is to develop a methodology, based on optimal control and rigid body models of the user and of the device, to compute optimal handle trajectories to help the user regain an upright, balanced posture starting from perturbed initial conditions while standing without walking. Handle trajectories for different initial perturbations of the patient are computed for the MOBOT project rollator device and presented.

关键词： Optimal control Mathematical model Legged locomotion Force Dynamics Trajectory

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Joint torque analysis of push recovery motions during human walking 6

Joint torque analysis of push recovery motions during human ...

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6th IEEE RAS/EMBS International Conference on Biomedical robotics and Biomechatronics, BioRob 2016

作者： Schemschat, R. Malin Clever, Debora Felis, Martin L. Chiovetto, Enrico Giese, Martin Mombaur, Katja Optimization in Robotics and Biomechanics Interdisciplinary Center for Scientific Computing Heidelberg University Germany Section for Computational Sensomotorics Department of Cognitive Neurology Hertie Institute for Clinical Brain Research Tübingen Germany

ISBN: (纸本)9781509032877

Most of their lifetime humans can recover from disturbances during walking motions very well. Our assumption is that to recover from disturbances during walking requires higher internal torques in the joints than motions without disturbances. To measure the internal joint torques in experiments is complicated and expensive. In this work we propose an optimality based simulation environment that allows to determine the internal torques in the joints of a human during disturbed walking motions. The human is represented by a two dimensional (2D) rigid multi-body model consisting of 14 segments controlled by torques in 13 rotational joints resulting in 16 degrees of freedom (DoF). The disturbance is modeled as external force acting on the model. A least-squares optimal control problem that minimizes the distance between the joint angles of the model and joint angles gained from motion capture experiments, while satisfying the dynamics and constraints of the human model, is set up. The analysis of perturbed and unperturbed walking motions shows that the torques in the joints vary according to the strength and duration of the disturbance. The calculation of the internal joint torques is important for the development of new control strategies or set up of humanoid robots and prostheses. It can also be used in the context of sport sciences to improve training or therapies. © 2016 IEEE.

关键词： Optimal control systems

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Modeling and Identification of a Realistic Spiking Neural Network and Musculoskeletal Model of the Human Arm, and an Application to the Stretch Reflex

Modeling and Identification of a Realistic Spiking Neural Ne...

引用

作者： Sreenivasa, Manish Ayusawa, Ko Nakamura, Yoshihiko Optimization in Robotics and Biomechanics Group Interdisciplinary Center for Scientific Computing University of Heidelberg Heidelberg69115 Germany Tsukuba305-8560 Japan Department of Mechanoinformatics University of Tokyo Tokyo113-8656 Japan

This study develops a multi-level neuromuscular model consisting of topological pools of spiking motor, sensory and interneurons controlling a bi-muscular model of the human arm. The spiking output of motor neuron pools were used to drive muscle actions and skeletal movement via neuromuscular junctions. Feedback information from muscle spindles were relayed via monosynaptic excitatory and disynaptic inhibitory connections, to simulate spinal afferent pathways. Subject-specific model parameters were identified from human experiments by using inverse dynamics computations and optimization methods. The identified neuromuscular model was used to simulate the biceps stretch reflex and the results were compared to an independent dataset. The proposed model was able to track the recorded data and produce dynamically consistent neural spiking patterns, muscle forces and movement kinematics under varying conditions of external forces and co-contraction levels. This additional layer of detail in neuromuscular models has important relevance to the research communities of rehabilitation and clinical movement analysis by providing a mathematical approach to studying neuromuscular pathology. © 2015 IEEE.

关键词： Digital storage

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Synthesis of Full-Body 3-D Human Gait using Optimal Control Methods

Synthesis of Full-Body 3-D Human Gait using Optimal Control ...

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IEEE International Conference on robotics and Automation

作者： Martin L. Felis Katja Mombaur Optimization in Robotics and Biomechanics (ORB) Interdisciplinary Center for Scientific Computing (IWR) Heidelberg University Germany

ISBN: (纸本)9781467380270

In this paper we present a method that uses optimal control for offline human gait synthesis that does not depend on motion capture data or task-specific controllers. Our method is based on efficient simulation of rigid multibody systems and a direct multiple-shooting method to solve the underlying space-time optimization problem. We formulated different optimization criteria and synthesized gaits for a full-body 3-D human model with 34 degrees of freedom and compared the resulting movements with human data. By combining different criteria we are able to improve the similarity of the synthesized motions with respect to recorded human motion-capture motions.

关键词： improve similarity synthesized motions

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Joint torque analysis of push recovery motions during human walking

Joint torque analysis of push recovery motions during human ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： R. Malin Schemschat Debora Clever Martin L. Felis Enrico Chiovetto Martin Giese Katja Mombaur Optimization in Robotics and Biomechanics Heidelberg University Germany Section for Computational Sensomotorics University Clinic Tübingen Tübingen Germany

ISBN: (纸本)9781509032884

关键词： Mathematical model Legged locomotion Optimal control Force Data models Torque

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optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons

Optimization based analysis of push recovery during walking ...

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IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

作者： R. Malin Schemschat Debora Clever Katja Mombaur Optimization in Robotics & Biomechanics (ORB) Interdisciplinary Center for Scientific Computing (IWR) ABB AG Corporate Research Center Germany University of Heidelberg Ladenburg

ISBN: (纸本)9781509046171

Moving independently is very important for most of the people in daily life. Exoskeletons can help disabled people to gain this capability again. Designing these assistive technologies, it is important to take into account that unperturbed motions barely exist. Therefore it is crucial to develop devices that are able to capture from perturbations. To this end in this work the torques needed in a lower body exoskeleton to perform perturbed human walking motions are determined by an optimization based simulation approach. We compare the behavior of a two dimensional human model with and without an exoskeleton. Two different exoskeleton configurations are considered. The differences between perturbed and unperturbed walking motions as well as between the model with and without exoskeleton are analyzed.

关键词： Exoskeletons Mathematical model Legged locomotion Foot Data models Optimal control Analytical models

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Patient specific corotated FEM simulation and gelatin phantom for prostate brachytherapy

Patient specific corotated FEM simulation and gelatin phanto...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Marina Horn Benjamin Reh Frederik Wenz Jan Stallkamp Katja Mombaur Research group Optimization in Robotics and Biomechanics (ORB) University of Heidelberg Heidelberg Germany Department of Radiation Oncology University Medical Center Mannheim Mannheim Germany Faunhofer-IPA Mannheim Germany

ISBN: (纸本)9781509032884

Brachytherapy is a common therapy for prostate cancer in which radioactive seeds are inserted in the prostate by means of long needles. Steering these needles such that the seeds arrive at the predetermined places in the prostate without damaging other organs is a challenging task. In this paper we propose an approach that simultaneously develops patient specific simulation models for the needle insertion problems as well as a patient specific phantom for practical evaluation. A novel method for developing a fully 3D phantom of the pelvic region using 3D printing technology and gelatin is presented. Simulation models of brachytherapy based on finite elements have been established in the open source framework SOFA and allow to study needle deflection and needle paths. This combined approach allows an evaluation of the simulated results by means of the experiments.

关键词： Needles Brachytherapy Phantoms Load modeling Finite element analysis Deformable models Data models

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