Abstract
The knowledge of intrinsic dynamics in terms of joint torques and muscle tensions is of importance for clinical investigations. The common process is to solve a multibody inverse dynamic problem based on a set of iterative equations using noisy experimental data as guest. Body segment accelerations are usually assessed by double differentiation, a method well-known to amplify kinematic measurement noise. As a result, iterative equations propagate uncertainties leading to inconsistencies between measured external force and the rate of change of linear momentum. Recent studies addressed this residual force problem by adjusting mass distribution while they calculate force tensions or by dealing with acceleration computation. However, these different approaches were based on a least-square problem still leading to approximate intrinsic dynamics. The aim of this communication is to compute joint accelerations by solving a dynamic optimization problem. We will examine the effect of the optimal adjustment on joint torques and muscle tensions.
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