During inverse dynamic simulations of human movement, inaccuracies and noise in experimental data result in residual forces and torques acting on the pelvis . These quantities are physically unrealistic but are necessary to balance the equations of motion. To circumvent this problem, Remy and Thelen developed a residual elimination algorithm (REA) that employs forward dynamic simulation to produce dynamically consistent accelerations that best agree with experimental marker motion data and satisfy the whole-body equations of motion . While the kinematics are dynamically consistent and the pelvis residuals effectively eliminated, the inability of REA to reproduce foot marker motion accurately is a hindrance for applications requiring precise positioning of the feet (e.g., foot-ground contact models).
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Residual Elimination Algorithm Enhancements to Improve Foot Motion Tracking During Forward Dynamic Simulation of Gait
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Jackson, JN, Hass, CJ, & Fregly, BJ. "Residual Elimination Algorithm Enhancements to Improve Foot Motion Tracking During Forward Dynamic Simulation of Gait." Proceedings of the ASME 2012 Summer Bioengineering Conference. ASME 2012 Summer Bioengineering Conference, Parts A and B. Fajardo, Puerto Rico, USA. June 20–23, 2012. pp. 509-510. ASME. https://doi.org/10.1115/SBC2012-80577
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