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Full-Text Articles in Engineering
Estimation Of Joint Moments During Turning Maneuvers In Alpine Skiing Using A Three Dimensional Musculoskeletal Skier Model And A Forward Dynamics Optimization Framework, Dieter Heinrich, Antonie J. Van Den Bogert, Werner Nachbauer
Estimation Of Joint Moments During Turning Maneuvers In Alpine Skiing Using A Three Dimensional Musculoskeletal Skier Model And A Forward Dynamics Optimization Framework, Dieter Heinrich, Antonie J. Van Den Bogert, Werner Nachbauer
Mechanical Engineering Faculty Publications
In alpine skiing, estimation of the joint moments acting onto the skier is essential to quantify the loading of the skier during turning maneuvers. In the present study, a novel forward dynamics optimization framework is presented to estimate the joint moments acting onto the skier incorporating a three dimensional musculoskeletal model (53 kinematic degrees of freedom, 94 muscles). Kinematic data of a professional skier performing a turning maneuver were captured and used as input data to the optimization framework. In the optimization framework, the musculoskeletal model of the skier was applied to track the experimental data of a skier and …
Human-Like Rewards To Train A Reinforcement Learning Controller For Planar Arm Movement, Kathleen M. Jagodnik, Philip S. Thomas, Antonie J. Van Den Bogert, Michael S. Branicky, Robert F. Kirsch
Human-Like Rewards To Train A Reinforcement Learning Controller For Planar Arm Movement, Kathleen M. Jagodnik, Philip S. Thomas, Antonie J. Van Den Bogert, Michael S. Branicky, Robert F. Kirsch
Mechanical Engineering Faculty Publications
High-level spinal cord injury (SCI) in humans causes paralysis below the neck. Functional electrical stimulation (FES) technology applies electrical current to nerves and muscles to restore movement, and controllers for upper extremity FES neuroprostheses calculate stimulation patterns to produce desired arm movement. However, currently available FES controllers have yet to restore natural movements. Reinforcement learning (RL) is a reward-driven control technique; it can employ user-generated rewards, and human preferences can be used in training. To test this concept with FES, we conducted simulation experiments using computer-generated ``pseudohuman{''} rewards. Rewards with varying properties were used with an actor-critic RL controller for …
An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert
An Elaborate Data Set On Human Gait And The Effect Of Mechanical Perturbations, Jason K. Moore, Sandra K. Hnat, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
Here we share a rich gait data set collected from fifteen subjects walking at three speeds on an instrumented treadmill. Each trial consists of 120 s of normal walking and 480 s of walking while being longitudinally perturbed during each stance phase with pseudo-random fluctuations in the speed of the treadmill belt. A total of approximately 1.5 h of normal walking (>5000 gait cycles) and 6 h of perturbed walking (>20,000 gait cycles) is included in the data set. We provide full body marker trajectories and ground reaction loads in addition to a presentation of processed data that …