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- My initial guess was to saturate the optimal input force that I found earlier at 400 N. I generated an new input force which is identical to the optimal input force up to 400 N, and saturated once the optimal input force exceeded 400 N.
- The second input force I tried was a new result from my CMC simulations. The new CMC result was acquired by assigning 4000 N to the maximum actuation force and bounding the control input between 0 and 0.1. In other words,
According
According to the formula Factuator = Factuatormax * Xactuator, the new CMC result also has a maximum force of 400 N. As Xactuator is bounded between 0 and 0.1 and Xmuscle is chosen between 0 and 1, the influence of Xactuator to the objective function of the CMC procedure is relatively lower than that of Xmuscle, so we can use this idea to create an optimal input for the ankle actuator when the maximum actuation force is limited.
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