Linearization of an opensim arm model for feedback control design

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dc.contributor.authorPINHEIRO, W. C.
dc.contributor.authorCastro, M.C.F.
dc.contributor.authorMENEGALDO, L. L.
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-2751-0014
dc.date.accessioned2022-01-12T21:56:47Z
dc.date.available2022-01-12T21:56:47Z
dc.date.issued2019
dc.description.abstract© 2019, Springer Nature Singapore Pte Ltd.One of the challenges of Biomechanics science is simulating the physiological or artificial feedback control of human joints. OpenSim is an opensource software package for simulation of musculoskeletal systems and movement analysis that provides highly detailed models suitable for forward dynamics simulations. However, the lack of access to model’s Ordinary Differential Equations explicitly hampers the design of feedback controllers based on local linear approximations of system dynamics. System identification techniques can be applied to obtain such linear model approximations and allow model-based control design. This paper aims to apply Recursive Instrumental-Variable Method (IV) as an identification technique to approximate muscle activation and contraction/joint dynamics of the biceps brachialis in an OpenSim arm model. As a result, activation dynamics and contraction/joint dynamics were identified and modeled by transfer function models with 71.91% and 97.35% of accuracy, respectively, to the nonlinear OpenSim model. It was also possible to observe how nonlinear effects should be taken into account when designing the controllers.
dc.description.firstpage289
dc.description.issuenumber1
dc.description.lastpage294
dc.description.volume70
dc.identifier.citationPINHEIRO, W. C.; CASTRO, M. C. F.; MENEGALDO, L. L. Linearization of an opensim arm model for feedback control design. IFMBE Proceedings, v. 70, n. 1, p. 289-294, 2019.
dc.identifier.doi10.1007/978-981-13-2119-1_44
dc.identifier.issn1433-9277
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3748
dc.relation.ispartofIFMBE Proceedings
dc.rightsAcesso Restrito
dc.subject.otherlanguageMuscle biomechanics
dc.subject.otherlanguageOpenSim
dc.subject.otherlanguageSystem identification
dc.titleLinearization of an opensim arm model for feedback control design
dc.typeArtigo de evento
fei.scopus.citations0
fei.scopus.eid2-s2.0-85067574497
fei.scopus.subjectForward dynamics simulation
fei.scopus.subjectLinear model approximations
fei.scopus.subjectLocal linear approximation
fei.scopus.subjectModel based control design
fei.scopus.subjectMuscle biomechanics
fei.scopus.subjectOpenSim
fei.scopus.subjectRecursive instrumental variables
fei.scopus.subjectSystem identification techniques
fei.scopus.updated2023-12-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85067574497&origin=inward
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