Author: Ming-Shaung Ju
Publisher:
ISBN:
Category :
Languages : en
Pages : 650

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Author: Ming Shaung Ju
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: Ming-Shaung Ju
Publisher:
ISBN:
Category :
Languages : en
Pages : 325

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Author: Katja Mombaur
Publisher: Springer Science & Business Media
ISBN: 3642363687
Category : Technology & Engineering
Languages : en
Pages : 289

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Book Description
The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.

Author: Sun I. Kim
Publisher: Springer Science & Business Media
ISBN: 3540368396
Category : Technology & Engineering
Languages : en
Pages : 4361

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Book Description
These proceedings of the World Congress 2006, the fourteenth conference in this series, offer a strong scientific program covering a wide range of issues and challenges which are currently present in Medical physics and Biomedical Engineering. About 2,500 peer reviewed contributions are presented in a six volume book, comprising 25 tracks, joint conferences and symposia, and including invited contributions from well known researchers in this field.

Author: Luc H. V. Woude
Publisher: IOS Press
ISBN: 1607500809
Category : Medical
Languages : en
Pages : 452

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Book Description
This book is a collection of summarized papers and poster presentations from the 4th International Congress Rehabilitation: Mobility, Exercise & Sports, which will be of interest to all those involved in the field of human movement sciences and the rehabilitation professions. Rehabilitation medicine is a relatively young discipline, as is the science of human movement, but both have progressed rapidly from their inception in the latter half of the 20th century to take their current place as important, multi-disciplinary, evidence-based, academic and clinical research subjects.

Author: Ramanarayan Vasudevan
Publisher:
ISBN:
Category :
Languages : en
Pages : 282

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Book Description
The empirical observation of human locomotion has found considerable utility in the diagnosis of numerous neuromuscular pathologies. Unfortunately without the construction of a dynamical system model of the measured gait, the effectualness of these observations is restricted to just the existing diagnostic variety rather than the prediction of potential instabilities in gait or guiding the construction of user specific prosthetics. In order to construct a dynamical system model of an observed gait in an automated fashion, one requires a family of representations rich enough to describe the dynamics of gait and an automated procedure to select a particular representation capable of describing a given observation from this family. The goal of this thesis is to address these two problems. First, a hybrid dynamical system representation is introduced that is shown to be capable of describing the discontinuities in dynamics that occur during locomotion. In particular, such a representation is constructible from observation given an unconstrained Lagrangian which is intrinsic to the biped after the identification of the sequence of contact points that are enforced during the observed motion. Second, a specific hybrid dynamical system representation is shown to be constructible from observed data by optimally switching between the set of vector fields corresponding to all possible combinations of contact point enforcements. At this point an algorithm for the computation of an optimal control of constrained nonlinear switched dynamical systems is devised. The control parameter for such systems include a continuous-valued input and discrete-valued input, where the latter corresponds to the mode of the switched system that is active at a particular instance in time. The presented approach, which this thesis proves converges to local minimizers of the constrained optimal control problem, first relaxes the discrete-valued input, performs traditional optimal control, and then projects the constructed relaxed discrete-valued input back to a pure discrete-valued input by employing an extension of the classical Chattering Lemma. This algorithm is extended by formulating a computationally implementable algorithm that works by discretizing the time interval over which the switched dynamical system is defined. Importantly, this thesis proves that the implementable algorithm constructs a sequence of points by recursive application that converge to the local minimizers of the original constrained optimal control problem. Four simulation experiments are included to validate the theoretical developments and illustrate its superiority when compared to standard mixed integer optimization techniques. The thesis concludes by applying the presented algorithm to perform the identification of a hybrid dynamical system representation of two classes of gaits. The first is a synthetic gait generated by the application of feedback linearization to a classical robotic bipedal model. For this synthetic observation, the presented identification scheme is able to correctly identify the correct model. The second set of gaits is one constructed from motion capture observations of 9 subjects during a flat ground walking experiment. For each subject, the presented identification scheme determines a distinct hybrid dynamical system representation. Surprisingly, the identified models for each participant share an identical discrete structure, or an identical sequence of contact point enforcements.

Author: Karim Abdel-Malek
Publisher: Academic Press
ISBN: 0124046010
Category : Computers
Languages : en
Pages : 296

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Book Description
Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. Introduces rigorous mathematical methods for digital human modelling and simulation Focuses on understanding and representing spatial relationships (3D) of biomechanics Develops an innovative optimization-based approach to predicting human movement Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)

Author:
Publisher:
ISBN:
Category : Dissertations, Academic
Languages : en
Pages : 1116

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Author:
Publisher:
ISBN:
Category : Robotics
Languages : en
Pages : 930

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Book Description