Optimal simulations for human and robotic movements

Authors: Kaphle, M., Eriksson, 
Document Type: Conference
Pubstate: Accepted
Journal: Proc NSCM-19, Lund
Year: 2006


This paper discusses the simulation of forces creating motion in robotic and musculoskeletal systems. Main focus is put on the treatment of dynamic equilibrium for a redundant force system. The dynamic equilibrium during movement is solved through a temporal finite element form for treatment of target controlled movements. Different criteria for optimality can be introduced. It is concluded that this method is able to describe the optimal movements, and that the criteria affect the resulting movements. With respect to musculoskeletal simulations, it can be concluded that existing numerical descriptions for muscular behavior are missing some important aspects.