Ankle controls that produce a maximal vertical jump when other joints are locked

Recently, there have been a number of attempts to apply optimal control theory to the analysis of human and animal movement. Because normal movements are very complicated and difficult to analyze, an experimental task that is easier to model and analyze has been chosen. Experimental subjects were in...

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Bibliographic Details
Published in:IEEE transactions on automatic control 1983-11, Vol.28 (11), p.1008-1016
Main Authors: Levine, W., Zajac, F., Belzer, M., Zomlefer, M.
Format: Article
Language:English
Subjects:
Animals
Applied sciences
Arm
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Hip
Humans
Knee
Muscles
Optimal control
Production
Propulsion
Torque
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Summary:Recently, there have been a number of attempts to apply optimal control theory to the analysis of human and animal movement. Because normal movements are very complicated and difficult to analyze, an experimental task that is easier to model and analyze has been chosen. Experimental subjects were instructed to jump as high as possible while keeping their knee and hip joints fully extended and their arms above their heads. The experiment is modeled by a two-segment inverted pendulum that is to be propelled as high as possible by a torque exerted at the joint. This torque is created by a simplified model of joint torque production by muscle and is controlled by a muscle "activation." The resulting optimal control problem is solved and the solution compared to the experimental results.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.1983.1103169