A Solution Method for Predictive Simulations in a Stochastic Environment
Document Type
Article
Publication Date
5-7-2020
Publication Title
Journal of Biomechanics
Abstract
Predictive gait simulations currently do not account for environmental or internal noise. We describe a method to solve predictive simulations of human movements in a stochastic environment using a collocation method. The optimization is performed over multiple noisy episodes of the trajectory, instead of a single episode in a deterministic environment. Each episode used the same control parameters. The method was verified on a torque-driven pendulum swing-up problem. A different optimal trajectory was found in a stochastic environment than in the deterministic environment. Next, it was applied to gait to show its application in predictive simulation of human movement. We show that, unlike in a deterministic model, a nonzero minimum foot clearance during swing is predicted by a minimum-effort criterion in a stochastic environment. The predicted amount of foot clearance increased with the noise amplitude.
Recommended Citation
Koelewijn, Anne D. and van den Bogert, Antonie J., "A Solution Method for Predictive Simulations in a Stochastic Environment" (2020). Mechanical Engineering Faculty Publications. 397.
https://engagedscholarship.csuohio.edu/enme_facpub/397
DOI
10.1016/j.jbiomech.2020.109759
Volume
104
