Posture Prediction and Optimization - Human Motion Simulation: Predictive Dynamics - page 55

Q

1.0

0.8

0.6

0.4

0.2

r

0.2 0.4 0.6 0.8 1.0

FIGURE 3.6
Graph of discomfort joint-limit penalty term.

Table 3.4 Objective Function Values with the Front Right Target

Joint Displacement Delta Potential Energy

Min. Joint Displacement 1.6 27

Min. Delta Potential Energy 176. 3

Table 3.5 Objective Function Values with the Back Target

Joint Displacement Delta Potential Energy

Min. Joint Displacement 2.2 32

Min. Delta Potential Energy 131 1.7

to the user, so discomfort does not have extremely high values when compared
with other performance measures.

3.7.5 Single-objective optimization
Results of single cost function optimization are shown below using the front right
and the back target. The values of the objective functions are shown in Tables 3.4
and 3.5 .