US 11,744,720 B2
Systems and methods for approximating musculoskeletal dynamics
Anton Sobinov, Morgantown, WV (US); Sergiy Yakovenko, Morgantown, WV (US); Valeriya Gritsenko, Morgantown, WV (US); Russell Hardesty, Eighty Four, PA (US); and Matthew Boots, Morgantown, WV (US)
Assigned to WEST VIRGINIA UNIVERSITY, Morgantown, WV (US)
Appl. No. 16/643,163
Filed by West Virginia University, Morgantown, WV (US)
PCT Filed Sep. 18, 2018, PCT No. PCT/US2018/051575
§ 371(c)(1), (2) Date Feb. 28, 2020,
PCT Pub. No. WO2019/056008, PCT Pub. Date Mar. 21, 2019.
Claims priority of provisional application 62/559,711, filed on Sep. 18, 2017.
Prior Publication US 2020/0265943 A1, Aug. 20, 2020
Int. Cl. A61F 2/70 (2006.01); A61F 2/08 (2006.01); A61B 5/11 (2006.01); A61F 2/72 (2006.01); A61F 2/58 (2006.01); G06F 3/01 (2006.01); G16H 30/20 (2018.01); B25J 9/10 (2006.01); A61B 5/00 (2006.01); A61F 2/68 (2006.01); A61B 5/389 (2021.01); A61F 2/50 (2006.01)
CPC A61F 2/72 (2013.01) [A61B 5/1107 (2013.01); A61B 5/4519 (2013.01); A61F 2/582 (2013.01); A61F 2/70 (2013.01); B25J 9/1075 (2013.01); G06F 3/011 (2013.01); G06F 3/015 (2013.01); G16H 30/20 (2018.01); A61B 5/389 (2021.01); A61F 2002/0894 (2013.01); A61F 2002/5066 (2013.01); A61F 2002/6827 (2013.01); A61F 2002/6872 (2013.01); A61F 2002/704 (2013.01); A61H 2230/605 (2013.01); A63B 2230/605 (2013.01)] 24 Claims
OG exemplary drawing
 
1. An approximation method performed in a processor for generating a model, the approximation method comprising:
receiving an input dataset associated with at least a first muscle length and at least a first moment arm associated with the first muscle length;
using the input dataset to generate at least a first muscle length polynomial and at least a first moment arm polynomial associated with the first muscle length and said at least a first moment arm, respectively;
expanding the first muscle length polynomial by at least one additional term while improving an accuracy of the first muscle length polynomial based on information related to said at least a first moment arm;
expanding said at least a first moment arm polynomial by at least one additional term while improving an accuracy of said at least a first moment arm polynomial based on information related to the first muscle length;
integrating the expanded first moment polynomial to produce one or more integrals;
joining said one or more integrals with the expanded first muscle length polynomial to obtain a constrained muscle length polynomial;
differentiating the constrained muscle length polynomial to obtain one or more constrained moment arm polynomials; and
approximating dynamics of a device based at least in part on the expanded first muscle length polynomial, the expanded first moment arm polynomial, the constrained muscle length polynomial, and the one or more constrained moment arm polynomials.