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- My initial guess was to saturate the optimal input force that I found earlier at 400N. I generated an new input force which is identical to optimal input force up to 400N, and saturated once optimal input force exceeds 400N. And then, I run CMC after setting the actuator input forces as a control constraints for each case.
- The second input force I tried is a new result from different CMC procedure. The new CMC result was acquired after assigning 4000N to maximum actuation force and bounding control input between 0 and 0.1.
In other word,
According to the formula Factuator = Factuatormax * Xactuator, the new CMC results also has maximum force of 400N. As Xactuator is bounded between 0 and 0.1 and Xmuscle has a range of 0 and 1, the influence of Xactuator to objective function of CMC procedure is relatively lower than that of Xmuscle , so we can use this idea to create optimal input for active actuator when the maximum actuation force is limited.
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You can find the model that I created for the project in SimTK website. You can reproduce the result using the model on the website. Please visit http://www.simtk.org/~~~
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