Scribd
Upload
22 views

Function

The document describes a function called muscle_force that estimates individual muscle forces using static optimization and Lagrangian multipliers. The function takes in parameters like the moment at a joint, muscle moment arms, an objective power, and maximum muscle forces. It returns an array of estimated muscle forces that satisfy constraints like minimizing the objective function and producing a moment equal to the input moment.

Uploaded by

Geraldo Rocha
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
22 views

Function

The document describes a function called muscle_force that estimates individual muscle forces using static optimization and Lagrangian multipliers. The function takes in parameters like the moment at a joint, muscle moment arms, an objective power, and maximum muscle forces. It returns an array of estimated muscle forces that satisfy constraints like minimizing the objective function and producing a moment equal to the input moment.

Uploaded by

Geraldo Rocha
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 3

function [ Fm ] = muscle_force( M, r, p, A, Fmax)

% purpose - to estimate individual muscle forces using static optimization, but solved
using a Lagrangian multiplier technique.
% -------
%
% John H. Challis (May 20, 1999)
%
% calling - [ Fm ] = muscle_force( M, r, p, A, Fmax)
% -------
%
% input
% -----
% M - moment at joint to be satisfied.
% r - array of moment arms of muscles
% p - power of objective function
% A - array of divisors for objective function [optional]
% Fmax - array of maximum force muscles can produce [optional]
%
% output
% ------
% Fm - array of muscle forces, which satisfy the constraints and minimize the objective
function.
%
% notes
% -----
% 1) The objective function to be minimized is: ( Fm(1) / A(1) )^p + ( Fm(2) / A(2) )^p
+..... ( Fm(n) / A(n) )^p
% 2) The constraint to be satisfied is: M = ( Fm(1) * r(1) ) + ( Fm(2) * r(2) ) +.....
( Fm(n) * r(n) )
% 3) Equality constraint: Fm(i) >= 0
% Equality constraint: Fm(i) <= Fmax(i) [optional]
% 4) The array A could contain the muscle cross-sectional areas (minimize muscle stress)
% the maximum muscle forces (minimize relative muscle
force)
% 5) Solutions are only approximate if the objective function is linear (p = 1)
% 6) All input variables should be in SI units.
% 7) The algorithm for this calculation is described in,
% Challis, J. H. & D. G. Kerwin. 1993. An analytical examination of muscle force
estimations using optimization techniques.
% Journal of Engineering in Medicine. 207: 139-148.
%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% set some initial parameters %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if p == 1
p = 1.001;
end
%
p1 = p / (p - 1);
%
n = length( r );

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% check number of inputs, set those not used %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if nargin == 3
A(1:n) = ones(n,1);
end
%
if nargin == 3 | nargin ==4
for i=1:n
Fmax(i) = ( M / r(i) );
end
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% check feasible solution exists %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Mp = 0;
for i=1:n
Mp = r(i) * Fmax(i) + Mp;
end
%
if Mp < M
disp('No feasible solution exists....')
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% now estimate muscle forces %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:n
ra(i) = r(i) * A(i);
end
%
for j=1:n
bot = 0;
for i=1:n
bot = ( ( ( ra(i) / ra(j) )^p1 ) ) + bot;
end
%
Fm(j) = M / ( r(j) * bot );
%
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% adjust if maximum forces have been exceeded %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
F_OK = find( (Fm - Fmax) <= 0);
F_not_OK = find( (Fm - Fmax) > 0);
F_Fixed = [];

while F_not_OK ~ []
%
Mnew = M;
% adjust Mnew for values set to maximum
%
n = length( F_Fixed );
if n > 0
for i=1:n
j = F_Fixed(i);
Mnew = Mnew - ( Fm(j) * r(j) );
end
end
% set Fm greater than Fmax to their maximums
%
n = length( F_not_OK );
for i=1:n
j = F_not_OK(i);
Fm(j) = Fmax(j);
Mnew = Mnew - ( Fm(j) * r(j) );
end
% re-estimate remaining values
%
n = length( F_OK );
%
for j=1:n
k = F_OK(j);
bot = 0;
for i=1:n
l = F_OK(i);
bot = ( ( ( ra(l) / ra(k) )^p1 ) ) + bot;
end
%
Fm(k) = Mnew / ( r(k) * bot );
%
end
% check that with new estimate of remaining values, the maximums have not been exceeded
%
F_Fixed = find( Fm == Fmax );
F_OK = find( (Fm - Fmax) < 0);
F_not_OK = find( (Fm - Fmax) > 0);
%
end

%
%%
%%% The End %%%
%%
%

You might also like