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Optimal coordination and control of posture and movements.

Johansson, Rolf LU ; Fransson, Per-Anders LU and Magnusson, Måns LU (2009) In Journal of Physiology - Paris 103. p.159-177
Abstract
This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for... (More)
This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Journal of Physiology - Paris
volume
103
pages
159 - 177
publisher
Elsevier
external identifiers
  • wos:000271395900006
  • pmid:19671443
  • scopus:71149093918
ISSN
1769-7115
DOI
10.1016/j.jphysparis.2009.08.013
project
ROSETTA
language
English
LU publication?
yes
id
e13cd474-27e8-45df-969d-fa63b2e420ae (old id 1469859)
alternative location
http://www.ncbi.nlm.nih.gov/pubmed/19671443?dopt=Abstract
date added to LUP
2009-09-02 15:25:43
date last changed
2017-01-01 07:41:15
@article{e13cd474-27e8-45df-969d-fa63b2e420ae,
  abstract     = {This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided.},
  author       = {Johansson, Rolf and Fransson, Per-Anders and Magnusson, Måns},
  issn         = {1769-7115},
  language     = {eng},
  pages        = {159--177},
  publisher    = {Elsevier},
  series       = {Journal of Physiology - Paris},
  title        = {Optimal coordination and control of posture and movements.},
  url          = {http://dx.doi.org/10.1016/j.jphysparis.2009.08.013},
  volume       = {103},
  year         = {2009},
}