Robust kinetics estimation from kinematics via direct collocation
The results highlight that the direct collocation method incorporating both tracking and biological terms in the cost function could robustly estimate joint moments during walking and squatting across various noise levels. Currently, this method is better suited to reflect general activity dynamics than subject-specific dynamics in clinical practice. Future research should focus on refining cost functions to achieve an optimal balance between robustness and accuracy.
Authors
- Huihao Wang (ORCID: https://orcid.org/0000-0001-7621-3916)
- Jiang Shao (ORCID: https://orcid.org/0000-0001-9153-8006)
- Zhang Li
- Xinpeng Chen (ORCID: https://orcid.org/0000-0003-2361-899X)
- Leichao Liang (ORCID: https://orcid.org/0000-0001-9909-3355)
- Kuan Wang
Institutions
- Shanghai University of Traditional Chinese Medicine (CN)
- Shanghai University of Medicine and Health Sciences (CN)
- Shanghai Sunshine Rehabilitation Center (CN)
- Shuguang Hospital (CN)
Publication Details
- Journal
- Frontiers in Bioengineering and Biotechnology
- Published
- 2024-12-18
- DOI
- https://doi.org/10.3389/fbioe.2024.1483225
- Primary Topic
- Robotic Mechanisms and Dynamics
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Natural Science Foundation of Shanghai
- Shanghai Municipal Health Commission
- National Natural Science Foundation of China