Direct methods for predicting movement biomechanics based upon optimal control theory with implementation in OpenSim

Journal article


Porsa, Sina, Lin, Yi-Chung and Pandy, Marcus. (2016). Direct methods for predicting movement biomechanics based upon optimal control theory with implementation in OpenSim. Annals of Biomedical Engineering. 44(8), pp. 2542-2557. https://doi.org/10.1007/s10439-015-1538-6
AuthorsPorsa, Sina, Lin, Yi-Chung and Pandy, Marcus
Abstract

The aim of this study was to compare the computational performances of two direct methods for solving large-scale, nonlinear, optimal control problems in human movement. Direct shooting and direct collocation were implemented on an 8-segment, 48-muscle model of the body (24 muscles on each side) to compute the optimal control solution for maximum-height jumping. Both algorithms were executed on a freely-available musculoskeletal modeling platform called OpenSim. Direct collocation converged to essentially the same optimal solution up to 249 times faster than direct shooting when the same initial guess was assumed (3.4 h of CPU time for direct collocation vs. 35.3 days for direct shooting). The model predictions were in good agreement with the time histories of joint angles, ground reaction forces and muscle activation patterns measured for subjects jumping to their maximum achievable heights. Both methods converged to essentially the same solution when started from the same initial guess, but computation time was sensitive to the initial guess assumed. Direct collocation demonstrates exceptional computational performance and is well suited to performing predictive simulations of movement using large-scale musculoskeletal models.

Keywordsdirect shooting; direct collocation; musculoskeletal model; motion tracking; trajectory optimization; predictive simulation
Year2016
JournalAnnals of Biomedical Engineering
Journal citation44 (8), pp. 2542-2557
PublisherSpringer
ISSN0090-6964
Digital Object Identifier (DOI)https://doi.org/10.1007/s10439-015-1538-6
Scopus EID2-s2.0-84951966803
Open accessPublished as green open access
Research or scholarlyResearch
Page range2542-2557
Author's accepted manuscript
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All rights reserved
File Access Level
Open
Publisher's version
License
All rights reserved
File Access Level
Controlled
Output statusPublished
Publication dates
Online29 Dec 2015
Publication process dates
Accepted16 Dec 2015
Deposited15 Aug 2022
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