Team Members


Use an OpenSim Model controlled with MPC to simulate falls that cannot be simulated experimentally in a laboratory setting. Additionally, use the model to determine which components of aging and disability most significantly contribute to difficulty in control and balance. In humans many factors change simultaneously such as strength and sensory ability, with a predictive model, it would be possible to determine which aspect of the human needs to be augmented to reduce or eliminate falls and fall-related injuries.

I plan to make the following modeling choicest represent the human euro muscular system 


Model Representation


Noise injected into position state variables

Muscle Strength

Actuator Limits

Range of Motion

Joint constraints

Reaction Time

Time Delay in control loop

Temporary, spontaneous vestibular loss

Initial Time Delay before controller reacts to falling body

Incorrect understanding of bodily limitationsInternal model constraints differ from simulated physical model

Research Questions



Video Presentation

Home: BIOE-ME 485 Spring 2017