Presentation 2014-11-22
Optimal Control Model of Human Squat Movement Mechanism Based on Successive Optimization
Toshikazu MATSUI, Masayoshi MOTEGI, Natsuki TANI,
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Abstract(in English) A three-link and three-joint optimal control model to reproduce human squat movements has already been proposed. This model is characterized by successively optimizing the half-crouching process and the rising-up process of squat movements. However, this model has a difficulty in deriving the desired value of the state variable for optimizing the model's half-crouching process. This research proposes a more advanced optimal control model through developing a mechanism to predict the value of the state variable at the switching time. Consequently, the following results are obtained: (1) the proposed model can predict the value of the state variable at the switching time as a linear function of the minimum height of the center of gravity at the same time; (2) the proposed model can successfully reproduce measured squat movements by using the predicted value of the state variable; (3) there exists the optimum switching time to minimize the model's overall criterion function. These results suggest that the proposed model can be an effective and plausible model of the human squatting mechanism and that the switching time and the state variable of that time can be factors involved strongly in human squat movements.
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Keyword(in English) Squat movement / Optimal control / Three-joint model / Switching time / State variable prediction
Paper # MBE2014-73
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Conference Information
Committee MBE
Conference Date 2014/11/14(1days)
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Paper Information
Registration To ME and Bio Cybernetics (MBE)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Optimal Control Model of Human Squat Movement Mechanism Based on Successive Optimization
Sub Title (in English)
Keyword(1) Squat movement
Keyword(2) Optimal control
Keyword(3) Three-joint model
Keyword(4) Switching time
Keyword(5) State variable prediction
1st Author's Name Toshikazu MATSUI
1st Author's Affiliation Graduate School of Science and Technology, Gunma University()
2nd Author's Name Masayoshi MOTEGI
2nd Author's Affiliation Graduate School of Science and Technology, Gunma University
3rd Author's Name Natsuki TANI
3rd Author's Affiliation Graduate School of Science and Technology, Gunma University
Date 2014-11-22
Paper # MBE2014-73
Volume (vol) vol.114
Number (no) 325
Page pp.pp.-
#Pages 6
Date of Issue