Objective and constraint estimation of gait via inverse optimal control

This research aims to understand how humans move by figuring out what goals and limitations guide their walking patterns. Instead of guessing, we use a method called inverse optimal control, which works backward from how a person walks to estimate what they were trying to achieve—like saving energy or avoiding strain. We also identify physical limits, such as joint range or balance. Using motion data and computation pipeline developed, we could reproduce realistic gait and predict movement. This approach helps us better understand human walking and could improve rehabilitation, prosthetics, and assistive device design.