To replicate natural human arm posture by performing muscle effort minimization when given a desired hand(wrist) pose. The manuscript entitled Muscle-effort-minimization-inspired Kinematic Redundancy Resolution for Replicating Natural Posture of Human Arm has been accepted for publication in IEEE Transactions on Neural Systems and Rehabilitation Engineering.
Figure note: a warmer color (red) in the muscles indicates a higher muscle effort (activation).
- Eigen 3.3
- Opensim 4.3
- orocos_kdl 1.5
- kdl_parser 1.13
- C++ 11
- Ubuntu 18.04 (Linux 5.4.0)
- gcc version 7.5.0 (x86_64)
- cmake 3.18.4
- cd path_to_CMakeLists.txt
- cmake . -DCMAKE_BUILD_TYPE=Release
- make
- ./memikrr ./data/Setup_Analyze.xml ./data/x_arm_musculoskeletal_lql.urdf ./data/x_arm_musculoskeletal_simplified_joints_aligned_lql_noJointOffset.urdf 2.0 0.01 0.1 0.1 2 ./data/wristPoseInput.txt ./result.txt
- relative file path of static optimization setup for arm osim model
- relative file path of musculoskeletal arm urdf model
- relative file path of simplified SRS arm urdf model
- optimizaiton initial guess interval of arm swivel angle in degree
- local optimization stop criterion kappa
- global optimization stop criterion1 epsilon
- global optimization stop criterion2 delta
- the index of the selected global stop criterion
- relative file path of wrist poses
- relative file path of optimization result output
- Each try of muscle effort estimation will cause a memory leakage of about 1M bytes by calling API to Opensim AnalyzeTool StaticOptimization module.
Q. Li, Y. Xia, X. Wang, P. Xin, W. Chen and C. Xiong, "Muscle-Effort-Minimization-Inspired Kinematic Redundancy Resolution for Replicating Natural Posture of Human Arm," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 2341-2351, 2022, doi: 10.1109/TNSRE.2022.3198400.