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Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches
A review of human walking modeling and simulation is presented. This review focuses on physics-based human walking simulations in the robotics and biomechanics literature. The gait synthesis methodsExpand
Optimization-based dynamic human walking prediction: One step formulation
A new methodology is introduced in this work to simulate normal walking using a spatial digital human model. The proposed methodology is based on an optimization formulation that minimizes theExpand
Predictive dynamics: an optimization-based novel approach for human motion simulation
Predictive dynamics is a novel approach for simulating human motion. It avoids direct integration of differential-algebraic equations in order to create the resulting simulations for redundantExpand
Multi-objective Optimization for Upper Body Posture Prediction
*† ‡ § ** The demand for realistic autonomous virtual humans is increasing, with potential application to prototype design and analysis for a reduction in design cycle time and cost. In addition,Expand
A New Discomfort Function for Optimization-Based Posture Prediction
A new human performance measure for direct optimizationbased posture prediction that incorporates three key factors associated with musculoskeletal discomfort that incorporates the tendency to move different segments of the body sequentially. Expand
Towards a new generation of virtual humans
This paper presents work from an ongoing project towards developing a new generation of virtual human models that are highly realistic in appearance, movement, and feedback. Santos™, an anatomicallyExpand
Interior and exterior boundaries to the workspace of mechanical manipulators
Abstract Analytical methods for identifying the boundary to the workspace of serial mechanical manipulators and the boundary to voids in the workspace are presented. The determination of parametricExpand
Local dexterity analysis for open kinematic chains
Two methods for determining the dexterity of manipulator arms are presented. A numerical method is illustrated for determining all possible orientations of the end-effector of an open kinematic chainExpand
Optimization-based prediction of asymmetric human gait.
An optimization-based formulation and solution method are presented to predict asymmetric human gait for a large-scale skeletal model and predicted kinematics and kinetics have trends that are similar to those reported in the literature. Expand
Towards understanding the workspace of human limbs
A rigorous ‘closed form’ kinematic formulation to model human limbs, understand their workspace (also called the reach envelope), and delineate barriers therein where a path becomes difficult or impossible owing to physical constraints is proposed. Expand