5/18/15 4:24 PM F:\Funcoes MatLab\muscle forcel.m lof 4 function [ Fm] = muscle_force( M, ry py Ay Fmax) % purpose - to estimate individual muscle forces using static optimization problem solved using a Lagrangian multiplier technique. % = % John H. Challis (May 20, 1999) % calling - [ Fm] = muscle force( M, r, py Ay Fmax) 8 S % 8 M = moment at joint to be satisfied. & © - array of moment arms of muscles % p- power of objective function SA - array of divisors for objective function [optional], can be set as an empty array, [], if constraints are used. % pmax - array of maximum force muscles can produce [optional] ‘ % output % fm - array of muscle forces, which satisfy the constraints and minimizes the” objective function 5 & notes ‘ % 1) The objective function to be minimized is: ( Fm(l) / A(1) )*p + ( Fm(2) / A(2)e pt (Bn(n) / Atm) 1p % 2) The constraint to be satisfied is: M= ( Pm(1) * r(1) ) + ( Hmi2y) * £(2) 1% teseee (min) * rin) ) 8 3) Equality constraint: m(i) >= 0 8 Equality constraint: H(i) <= Fmax(i) [optional] % 4) The array A could contain the muscle cross-sectional areas (minimize muscle’ stress) 8 the maximum muscle forces (minimize relative musclet force) % 5) Solutions are only approximate if the objective function is linear (p = 1) % 6) All input variables should be in ST units 8 7) The algorithm for this calculation is described in, s Challis, J. H. 4D. G. Kerwin. 1993. An analytical examination of muscle forced estimations using optimization techniques. 8 Journal of Engineering in Medicine. 207: 139-148, 5 SORRSERAS ESSA SERS SGRNAEEGENESENE 5 : % set some initial parameters ‘ * SORTERSSENSS SLR SER LESESESE SESE5/18/15 4 4 PM _F:\Funcoes MatLab\muscle forcel.m 2 of 4 pl=p/ip-ie 8 n= length( rds SOSGDERGEDSS ESSA SSSNESRSESESESERRS ERASER ESSE ES, % check number of inputs, set those not used % ’ 8 SOBEVERTERESESERSTSRSTSE SELES SSGSESERES ER ESSE ES, if margin == 3 A(lin) = ones(a,1); end 8 if margin == 3 | nargin gor islin Fmax(i) = (Mf 2G) Ve end end ‘ if isempty( A} == 1 A(1in) = ones(n,1); end Mp = (i) * Bmax (i) + Mp; end if Mp 0); FFixed = (17 while Fnot_oK = [] 8 wnew = My % adjust mnew for values set to maximun ‘ n= length( F_Fixed }; itn>0 for Lelin 3 = F Fixed(i); Mnew = Mnew = ( Fm(3) * 5G) )F end end % set Fm greater than Frax to their maximuns 8 n= length( ¥_not_oK ); for islin 3 = F not KC) Fn(j) = Pmax(3)s mnew = Mnew - (Fm(3) * £0) 1s end S re-estimate remaining values 5 n= Length( ¥_0K ); ‘ for jelin k = FOKG): bot = 0; for isl: 1s FoK(); bet = ( ( (za(l) / xa(k) )*pl) ) + bots end 8 Fm(k) = Mnew / (x(k) * bot + end % check that with new estimate of remaining values, the maximums have not been exceeded Fixed = find( Fm == Fmax }7 FLOK = find( (Fm = Fmax) < 0);5/18/15 F:\Funcoes M tLab\muscle fore: 4 of F_not_OK = find( (Fm ~ Fmax) > 0);