Biomedical Engineering Reference
In-Depth Information
8
Torque square
Min-max
Forward dynamics
6
4
2
0
-2
-4
-6
-8
-10
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
Time (s)
FIGURE 5.21
Joint velocity prediction of the single pendulum, Case 4.
0.5
0.4
Torque square
Min-max
Forward dynamics
0.3
0.2
0.1
0.0
-0.1
-0.2
-0.3
-0.4
-0.5
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
Time (s)
FIGURE 5.22
Joint torque prediction of the single pendulum, Case 4.
As one can see, predictive dynamics yields numerical results that are consis-
tent with those obtained from a forward dynamics computational method.
A more detailed treatment of two specific tasks is presented in Chapter 7 for
the prediction of the biomechanics of walking and in Chapter 8 for the prediction
of the biomechanics of lifting.
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