A biomechanical inactivation principle
This paper is concerned with the mathematical side of the theory of inactivations in human biomechanics and addresses the question whether motor planning is optimal according to an identifiable criterion. In other words, the following inverse optimal control problem is posed: given recorded experimental data, infer a cost function with regard to which the observed behavior is optimal. In contrast to known methods, the authors suggest a new approach to optimal control problems which starts from the observation of simultaneous inactivations of opposing muscles during movements presumed as optimal. Using the Pontryagin maximum principle and transversality arguments from differential topology, it is proved that the minimization of a nonsmooth cost is a necessary condition to obtain inactivation phases along optimal trajectories. The periods of silence in the activation of muscles that are observed in practice during the motions of the arm can appear only if ``energy expenditure is minimized. On the other hand, minimization of a criterion accounting for ``energy expenditure ensures, for sufficiently short movements, existence of such periods of silence. Consequently, it is established that inactivation is a kind of necessary and sufficient conditions for the minimization of an absolute-work-like cost. The theory has been validated by practical experiments, including zero-gravity experiments.
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- Optimal task performance of antagonistic muscles
- A numerical procedure for inferring from experimental data the optimization cost functions using a multibody model of the neuro-musculoskeletal system
- Deterministic observation: theory and applications
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- Linear Matrix Inequalities in System and Control Theory
- Minimum Acceleration Criterion with Constraints Implies Bang-Bang Control as an Underlying Principle for Optimal Trajectories of Arm Reaching Movements
- On the one-step-Bracket-Generating motion planning problem
- Optimization and nonsmooth analysis
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