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Sample models
Optimization process
The idea to optimize the control input force for the actuator is to take advantage of the optimization procedure in CMC tool. CMC procedure. CMC procedure contains static optimization process
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Cost function of optimization process in CMC (Slow target)
, and it tries to minimize the cost function J which can be represented as
When there is active actuators on OpenSim Model, the activation term in cost function becomes
and,
Assign large value of maximum force to each actuator to reduce the size of xactuator, so that the influence of actuator to J is diminished.
Result
Metabolic cost change
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Optimal actuator input
Analysis of optimal input force for ankle actuator
Best realistic actuation input force for ankle actuator