Team Members
- Jaehyun Bae
Motivation
DARPA Warrior Web Program
Harvard Exosuit
Challenges
Research Questions
Strategy
Experimental data
Modeling
How to model a subject wearing active actuator
Sample models
Optimization process
- CMC procedure contains static optimization process
Cost function of optimization process in CMC (Slow target)
Fact = Factmax * xactuator
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.
- CMC procedure contains static optimization process
Cost function of optimization process in CMC (Slow target)
When there is active actuators on OpenSim Model, the activation term in cost function becomes
Fact = Factmax * xactuator
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.