“Modeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories”Authors: Lelai Zhou, Shaoping Bai, Michael R. Hansen, John RasmussenAffiliation: Aalborg University (Denmark) and University of Agder (Norway) Reference: 2011, Vol. 31, No. 3, pp. 91-101. |
|
Keywords: Metabolic cost, Human arm motion, Musculoskeletal model, Biomechanics
Abstract: Human arm motion can inspire the trajectory planning of anthropomorphic robotic arms to achieve energy-efficient movements. An approach for predicting metabolic cost in the planar human arm motion by means of the biomechanical simulation is proposed in this work. Two biomechanical models, including an analytical model and a musculoskeletal model, are developed to implement the proposed approach. The analytical model is developed by modifying a human muscle expenditure model, in which the muscles are grouped as torque providers for computation efficiency. In the musculoskeletal model, the predication of metabolic cost is conducted on the basis of individual muscles. With the proposed approach, metabolic costs for parameterized target-reaching arm motions are calculated and utilized to identify optimal arm trajectories.
PDF (670 Kb)
DOI: 10.4173/mic.2011.3.1
Currently no DOI forward links to this article
References:
[1] Abend, W., Bizzi, E., and Morasso, P. Human arm trajectory formation. Brain, 1982. 105:331--348. doi:10.1093/brain/105.2.331.
[2] Alexander, R.M. A minimum energy cost hypothesis for human arm trajectories. Biological Cybernetics, 1997. 76(2):97--105. doi:10.1007/s004220050324.
[3] AnyBody. AnyBody Modeling System. 2010. Available from: \urlwww.anybodytech.com.
[4] Atkeson, C.G. and Hollerbach, J.M. Kinematic features of unrestrained vertical arm movements. Journal of Neuroscience, 1985. 5(9):2318--2330.
[5] Chaffin, D.B., Andersson, G. B.J., and Martin, B.J. Occupational Biomechanics. John Wiley \& Sons, New York, 4 edition, 2006.
[6] Fagg, A.H., Shah, A., and Barto, A.G. A computational model of muscle recruitment for wrist movements. Journal of Neurophysiology, 2002. 88:3348--3358. doi:10.1152/jn.00621.2002.
[7] Flash, T. and Hogan, N. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience, 1985. 5(7):1688--1703.
[8] Georgopoulos, A.P., Schwartz, A.B., and Kettner, R.E. Neuronal population coding of movement direction. Science, 1986. 233:1416--1419. doi:10.1126/science.3749885.
[9] Hill, A.V. The heat of shortening and the dynamic constants of muscle. Proceedings of the Royal Society of London, Series B, Biological Sciences, 1938. 126(843):136--195. doi:10.1098/rspb.1938.0050.
[10] Holzbaur, K. R.S., Murray, W.M., and Delp, S.L. A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control. Annals of Biomedical Engineering, 2005. 33(6):829--840. doi:10.1007/s10439-005-3320-7.
[11] Kashima, T. and Isurugi, Y. Trajectory formation based on physiological characteristics of skeletal muscles. Biological Cybernetics, 1998. 78:413--422. doi:10.1007/s004220050445.
[12] Kashima, T., Isurugi, Y., and Shima, M. An optimal control model of a neuromuscular system in human arm movements and its contrl characteristics. Artificial Life Robotics, 2002. 6:205--209. doi:10.1007/BF02481269.
[13] Leeuwen, J. L.V. Optimum power output and structural design of sarcomeres. Journal of Theoretical Biology, 1991. (149):229--256. doi:10.1016/S0022-5193(05)80279-6.
[14] Ma, S. and Zahalak, G.I. A distribution-moment model of energetics in skeletal muscle. Journal of Biomechanics, 1991. 24(1):21--35. doi:10.1016/0021-9290(91)90323-F.
[15] Mendez, J. and Keys, A. Density and composition of mammalian muscle. Metabolism, Clinical and Experimental, 1960. (9):184--188.
[16] Morasso, P. Spatial control of arm movements. Experimental Brain Research, 1981. 42:223--227. doi:10.1007/BF00236911.
[17] Rosenbaum, D.A., Loukopoulos, L.D., Meulenbroek, R. G.J., Vaughan, J., and Engelbrecht, S.E. Planning reaches by evaluating stored postures. Psychological Review, 1995. 102(1):28--67. doi:10.1037/0033-295X.102.1.28.
[18] Secco, E.L., Valandro, L., Caimmi, R., Magenes, G., and Salvato, B. Optimization of two-joint arm movements: a model technique or a result of natural selection? Biological Cybernetics, 2005. 93:288--306. doi:10.1007/s00422-005-0003-2.
[19] Umberger, B.R., Gerritsen, K. G.M., and Martin, P.E. A model of human muscle energy expenditure. Computer Methods in Biomechanics and Biomedical Engineering, 2003. 6(2):99--111. doi:10.1080/102558403100009167.
[20] Winter, D.A. Biomechanics and motor control of human movement. John Wiley \& Sons, New Jersey, 4 edition, 2009.
[21] Winters, J.M. and Stark, L. Analysis of fundamental human movement patterns through the use of in-depth antagonistic muscle models. IEEE Transactions on Biomedical Engineering, 1985. 32:826--839. doi:10.1109/TBME.1985.325498.
BibTeX:
@article{MIC-2011-3-1,
title={{Modeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories}},
author={L. Zhou and S. Bai and M. R. Hansen and J. Rasmussen},
journal={Modeling, Identification and Control},
volume={31},
number={3},
pages={91--101},
year={2011},
doi={10.4173/mic.2011.3.1},
publisher={Norwegian Society of Automatic Control}
};
