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Simulating human wa...
Simulating human walking : a model-based reinforcement learning approach with musculoskeletal modeling
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- Su, Binbin (author)
- KTH,Teknisk mekanik
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- Gutierrez-Farewik, Elena, 1973- (author)
- KTH,Farkostteknik och Solidmekanik,Karolinska Inst, Dept Womens & Childrens Hlth, Stockholm, Sweden
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(creator_code:org_t)
- Frontiers Media SA, 2023
- 2023
- English.
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In: Frontiers in Neurorobotics. - : Frontiers Media SA. - 1662-5218. ; 17
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Abstract
Subject headings
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- IntroductionRecent advancements in reinforcement learning algorithms have accelerated the development of control models with high-dimensional inputs and outputs that can reproduce human movement. However, the produced motion tends to be less human-like if algorithms do not involve a biomechanical human model that accounts for skeletal and muscle-tendon properties and geometry. In this study, we have integrated a reinforcement learning algorithm and a musculoskeletal model including trunk, pelvis, and leg segments to develop control modes that drive the model to walk.MethodsWe simulated human walking first without imposing target walking speed, in which the model was allowed to settle on a stable walking speed itself, which was 1.45 m/s. A range of other speeds were imposed for the simulation based on the previous self-developed walking speed. All simulations were generated by solving the Markov decision process problem with covariance matrix adaptation evolution strategy, without any reference motion data.ResultsSimulated hip and knee kinematics agreed well with those in experimental observations, but ankle kinematics were less well-predicted.DiscussionWe finally demonstrated that our reinforcement learning framework also has the potential to model and predict pathological gait that can result from muscle weakness.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- MEDICIN OCH HÄLSOVETENSKAP -- Klinisk medicin -- Neurologi (hsv//swe)
- MEDICAL AND HEALTH SCIENCES -- Clinical Medicine -- Neurology (hsv//eng)
Keyword
- human and humanoid motion analysis
- motion synthesis
- optimization
- optimal control
- kinematics
- CMA-ES
- reflex-based control
Publication and Content Type
- ref (subject category)
- art (subject category)
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