Optimal coordination and control of posture and locomotion (Q1174547)

An algorithm capable for the coordination and control of functional neuromuscular stimulation as well as of protheses is presented. The rigid body mechanics of musculoskeletial motion is formulated according to Lagrange's equations. The coordination of the muscular forces is considered at the level of joint torque. The optimal control problem discussed by the authors is to minimize errors in the applied torques and the energy consumption. This problem is solved by means of the Hamilton- Jacobi equation, where explicit solutions are obtained. Stability is investigated with the Lyapunov function theory, showing that global asymptotic stability holds. An anthromorphic five-link model climbing a step is treated as illustrative example. The problem of parameter identification of the model from experimental data is considered in a special section.