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. Author manuscript; available in PMC: 2013 Apr 5.
Published in final edited form as: J Biomech. 2011 Jun 3;44(9):1639–1645. doi: 10.1016/j.jbiomech.2010.12.020

FIGURE 5.

FIGURE 5

Results of dynamic optimization to move the body from an erect posture to a side-shift position, dwelling for 300 ms and then returning to the erect position. (a) Joint angle trajectories. Solid lines are the desired or specified trajectories while the dashed lines are those obtained by dynamic optimization. Positive directions for the joints are: subtalar (inversion), ankle (dorsiflexion), knee (extension), hip (flexion, adduction, internal rotation), trunk pitch (extension) and trunk bend( to the right); (b) muscles excitations and normalized upper extremity (UE) forces required to execute the desired motion. Solid lines are for the right side while dashed lines are for the left side. The thin vertical lines represent the boundaries of the three phases. The directions for UE force components were: Fore-aft – positive forward; Vertical component – positive upward and Side-to-side component – positive to the right of the body. The numbers inside each of the joint angle sub-plots were the RMSE values.