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Table of contents
1 Introduction
1.1 Human Body Modeling
1.2 Optimization – The Backbone of Human Movement Generation
1.3 Related Work
1.4 Contributions
2 Human Modeling and Whole-Body Control
2.1 Musculoskeletal Modeling
2.1.1 Multibody Dynamics
2.1.2 Actuator Modeling
2.1.3 Contact Modeling
2.2 Whole-Body Control
2.2.1 Constraint Formulation
2.2.2 Task Formulation
2.2.3 Prioritization strategies
3 The two-step optimization based synthesis approach of squat movement
3.1 Overview of The Squat Movement
3.1.1 Squat Execution
3.1.2 Joint Kinetics and Kinematics During The Squat
3.2 The two-step optimization scheme
3.2.1 Step I – Reactive Optimization-based Dynamic Task Control
3.2.2 Task Switch
3.2.3 Step II – Muscle Activation Synthesis
3.3 Simulation Example: Half Squat Synthesis with A Low Number of Muscles
3.3.1 OpenSim
3.3.2 Human Model
3.3.3 Results
3.4 Simulation Example: Half Squat Synthesis with A Great Number of Muscles
3.4.1 Human Model
3.4.2 Results
3.5 Conclusions
4 Synthesis of Different Squat Strategies and Patterns With The Optimization-based Dynamic Task Controller
4.1 Synthesis of Asian Squat
4.1.1 Overview of Asian Squat
4.1.2 Method
4.1.3 Results and Discussions
4.2 Synthesis of Two Different Squat Strategies
4.2.1 Method
4.2.2 Results and Discussions
4.3 Conclusion
5 Simulation of The Effect of Different Rectus Femoris Transfer Sites on Muscle Recruitment During Knee Extension
5.1 Method
5.1.1 Computational Modeling of RF Transfer
5.1.2 Results
5.1.3 Discussions
5.2 Conclusions
6 Prediction of Muscle Activities After Femur Osteotomy and Patellar Tendon Advancement
6.1 Computational Modeling
6.1.1 Distal Femoral Extension Osteotomy (DFEO)
6.1.2 Patellar Tendon Advancement (PTA)
6.2 Method
6.2.1 Simulation
6.2.2 Results and Discussions
6.3 Conclusion
7 Conclusions and Perspectives
7.1 Contributions
7.2 Limitations and Perspectives
7.2.1 Muscle Modeling
7.2.2 Reactive Control Strategy
7.2.3 Experimental data
7.2.4 Towards Gait Synthesis
