Trajectory Planning of Spine Motion During Flexion Within Two Nonlinear Objective Functions: Minimum-Jerk Model, Minimum-Torque Model

A central problem in motor control is understanding how the many biomechanical degrees of freedom are coordinated to achieve a goal. A common assumption is that Central Nervous System (CNS) would minimize a performance index to achieve this goal which is called objective function. In this paper, two popular objective functions are utilized to design the optimal trajectory of trunk movements. A 3D computational method incorporated with 18 anatomically oriented muscles is used to simulate human trunk system. Inverse dynamics allows us to compute torque which is generated around Lumbosacral joint. This torque is divided among muscles by static optimization. Results would shed light on the interaction mechanisms in muscle activation patterns, seen in various performance indices.

کلیدواژه ها:

Spine ، Minimum-Torque model ، Minimum jerk model ، Trajectory planning ، Nonlinear optimization