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Publications
Journal Articles • Conference Proceedings
Fregly, B.J., D’Lima, D.D., and Colwell, C.W. (2008) Effective gait modification strategies for reducing medial compartment contact force in the knee. Arthritis Care & Research (submitted).
Koh, B.-I., Reinbolt, J.A., George, A.D., Haftka, R.T., and Fregly, B.J. (2008) Limitations of parallel global optimization for large-scale human movement problems. Medical Engineering & Physics (conditionally accepted).
Lin, Y.-C., Haftka, R.T., Queipo, N.V., and Fregly, B.J. (2008) Surrogate contact modeling for computationally efficient dynamic simulation of total knee replacements. Journal of Biomechanical Engineering (conditionally accepted).
D'Lima, D.D., Steklov, N, Fregly, B.J., Banks, S.A., and Colwell, C.W. (2008) In vivo contact stresses during activities of daily living after knee arthroplasty. Journal of Orthopaedic Research (in press).
Fregly, B.J. (2008) Computational assessment of combinations of gait modifications for knee osteoarthritis rehabilitation. IEEE Transactions on Biomedical Engineering (in press).
Fregly, B.J., Banks, S.A., D’Lima, D.D., and Colwell, C.W. (2008) Sensitivity of knee replacement contact calculations to kinematic measurement errors. Journal of Orthopaedic Research (in press).
Schache, A.G., Fregly, B.J., Crossley, K.M, Hinman, R.S., and Pandy, M.G. (2008) The effect of gait modification on the external knee adductor moment is reference frame dependent. Clinical Biomechanics (in press).
Fregly,
B.J., Reinbolt, J.A., and Chmielewski, T.L. (2008) Evaluation of a patient-specific cost function to
predict the influence of foot path on the knee adduction torque
during gait. Computer Methods in Biomechanics and Biomedical
Engineering 11, 63-71.
Moro-oka, T., Hamai, S., Miura, H., Shimoto, T., Higaki, H., Fregly, B.J., Iwamoto, Y., and Banks, S. (2008) Dynamic activity dependence of in vivo normal knee kinematics. Journal of Orthopaedic Research 26, 428-434.
Reinbolt,
J.A., Haftka, R.T., Chmielewski, T.L., and Fregly, B.J. (2008) A
computational framework to predict post-treatment outcome for
gait-related disorders. Medical Engineering & Physics
30, 434-443.
Zhao,
D., Sadoka, H.,
Sawyer, W.G., Banks, S.A., and Fregly, B.J. (2008) Predicting knee
replacement damage in a simulator machine using a computational
model with a consistent wear factor. Journal of Biomechanical
Engineering 130, 011004-1-011004-10.
Fregly,
B.J., Reinbolt, J.A., Rooney, K.L., Mitchell, K.H., and Chmielewski,
T.L. (2007) Design of patient-specific gait modifications for knee
osteoarthritis rehabilitation. IEEE Transactions on Biomedical
Engineering 54, 1687-1695.
Download animations below:
Optimization with tighter tracking of pre-training data
Optimization with looser tracking of pre-training data
Post-training with attempted pre-training motion
Post-training with exaggerated optimized motion
Moro-oka, T., Hamai, S., Miura, H., Higaki., H., Fregly, B.J., Iwamoto, Y., and Banks, S.A. (2007) Can magnetic resonance imaging-derived bone models be used for accurate motion measurement with single-plane three-dimensional shape registration? Journal of Orthopaedic Research 25, 867-872.
Reinbolt,
J.A., Haftka, R.T., Chmielewski, T.L., and Fregly, B.J. (2007) Are
patient-specific joint and inertial parameters necessary for
accurate inverse dynamics analyses of gait? IEEE Transactions on
Biomedical Engineering 54, 782-793.
Schutte,
J.F., Haftka, R.T., and Fregly, B.J. (2007) Improved global
convergence probability using multiple independent swarms. International
Journal for Numerical Methods in Engineering 71,
678-702.
Zhao,
D., Banks, S.A., D'Lima, D.D., Colwell, C.W., and
Fregly, B.J. (2007) In vivo medial and lateral tibial loads during
dynamic and high flexion activities. Journal of Orthopaedic
Research 25, 593-602.
Zhao,
D., Banks, S.A., Mitchell, K.H., D'Lima, D.D.,
Colwell, C.W., and Fregly, B.J. (2007) Correlation between the knee
adduction torque and medial contact force for a variety of gait
patterns. Journal of Orthopaedic Research 25,
789-797.
Koh,
B.-I., George, A.D., Haftka, R.T., and Fregly, B.J. (2006) Parallel
asynchronous particle swarm optimization. International Journal
for Numerical Methods in Engineering 67, 578-595.
Lin,
Y.-C., Farr, J., Carter, K., and Fregly, B.J. (2006) Response
surface optimization for joint contact model evaluation. Journal
of Applied Biomechanics 22, 120-130.
Zhao,
D., Sawyer, W.G., and Fregly, B.J. (2006) Computational wear
prediction of UHMWPE in knee replacements. Journal of ASTM
International 3, 45-50.
Banks,
S.A.,
Fregly, B.J., Boniforti, F.,
Reinschmidt, C., and Romagnoli, S. (2005) Comparing in vivo
kinematics of unicondylar and bi-unicondylar knee replacements. Knee
Surgery, Sports Traumatology, Arthroscopy 13, 551-556.
Harman,
M.K., Banks, S.A.,
Fregly, B.J., Sawyer, W.G., and
Hodge, W.A. (2005) Biomechanical mechanisms for damage: Retrieval
analysis and computational wear predictions in total knee
replacements. Journal of Mechanics in Medicine and Biology 5,
469-475.
Fregly, B.J., Rahman, H.A., and Banks, S.A. (2005) Theoretical accuracy of model-based shape matching for measuring natural knee kinematics with single-plane fluoroscopy. Journal of Biomechanical Engineering 127, 692-699.
Fregly, B.J., Sawyer, W.G., Harman, M.K., and Banks, S.A. (2005) Computational wear prediction of a total knee replacement from in vivo kinematics. Journal of Biomechanics 38, 305–314.
Hamilton, M.A., Sucec, M.C., Fregly, B.J., Banks, S.A., and Sawyer, W.G. (2005) Quantifying multidirectional sliding motions in total knee replacements, Journal of Tribology 127, 280-286.
Reinbolt, J.A., Schutte, J.F., Fregly, B.J., Koh, B.-I., Haftka, R.T., George, A.D., and Mitchell, K. H. (2005) Determination of patient-specific multi-joint kinematic models through two-level optimization. Journal of Biomechanics 38, 621-626.
Schutte, J.F., Koh, B.-I., Reinbolt, J.A., Fregly, B.J., Haftka, R.T., and George, A.D. (2005) Evaluation of a particle swarm algorithm for biomechanical optimization. Journal of Biomechanical Engineering 127, 465-474.
Bei, Y. and Fregly, B.J. (2004) Multibody dynamic simulation of knee contact mechanics. Medical Engineering & Physics 26, 777-789.
Bei, Y., Fregly, B.J., Sawyer, W.G., Banks, S.A., and Kim, N.H (2004) The relationship between contact pressure, insert thickness, and mild wear in total knee replacements. Computer Modeling in Engineering & Sciences 6, 145-152.
Koh, B.-I., Reinbolt, J.A., Fregly, B.J., and George, A.D. (2004) Evaluation of parallel decomposition methods for biomechanical optimizations. Computer Methods in Biomechanics and Biomedical Engineering 7, 215-225.
Schutte, J.F., Reinbolt, J.A., Fregly, B.J., Haftka, R.T., and George, A.D. (2004) Parallel global optimization with the particle swarm algorithm. International Journal of Numerical Methods in Engineering 61, 2296-2315.
Fregly, B.J. and Sawyer, W.G. (2003) Estimation of discretization errors in contact pressure measurements, Journal of Biomechanics 36, 609-613.
Fregly, B.J., Bei, Y., and Sylvester, M.E. (2003) Experimental evaluation of an elastic foundation model to predict contact pressures in knee replacements, Journal of Biomechanics 36, 1659-1668.
Sawyer, W.G., Hamilton, M.A., Fregly, B.J., and Banks, S.A. (2003) Temperature modeling in a total knee joint replacement using patient-specific kinematics, Tribology Letters 15, 343-351.
Hansen
E.A., Jorgensen L.V., Jensen K., Fregly B.J., Sjogaard G. (2002)
Crank inertial load affects freely chosen pedal rate during cycling.
Journal of Biomechanics 35, 277-285.
Fregly, B.J., Zajac, F.E., and Dairaghi, C.A. (2000) Bicycle drive system dynamics: theory and experimental validation. Journal of Biomechanical Engineering 122, 446-452.
Chèze, L., Fregly, B.J., and Dimnet, J. (1998) Determination of joint functional axes from noisy marker data using the finite helical axis. Human Movement Science 17, 1-15.
Fregly, B.J., Zajac, F.E., and Dairaghi, C.A. (1996) Crank inertial load has little effect on steady-state pedaling coordination. Journal of Biomechanics 29, 1559-1567.
Fregly, B.J. and Zajac, F.E. (1996) A state-space analysis of mechanical energy generation, absorption, and transfer during pedaling. Journal of Biomechanics 29, 81-90.
Chèze, L., Fregly, B.J., and Dimnet, J. (1995) A solidification procedure to facilitate kinematic analyses based on video system data. Journal of Biomechanics 28, 879-884.
Fattey, M.G. and Fregly, B.J. (2008) Simultaneous determination of skeletal model parameter values, motions, and controls from noisy measurement data. In Proceedings of the ASME Summer Bioengineering Conference, SBC2008-192605, June 25-29, Marco Island, FL, The American Society of Mechanical Engineers, New York.
Fernandez, J.W., Kim, H.J., Akbarshahi, M., Walter, J.P., Fregly, B.J., and Pandy, M.G. (2008) Evaluation of predicted knee joint muscle forces during gait using an instrumented knee implant. In Proceedings of the ASME Summer Bioengineering Conference, SBC2008-191839, June 25-29, Marco Island, FL, The American Society of Mechanical Engineers, New York.
Fregly, B.J. (2008) Effect of foot path alterations on adduction moment reductions produced by knee medialization during gait. In Proceedings of the 13th Annual Meeting of the Gait and Clinical Movement Analysis Society, April 2-5, Richmond, Virginia.
Fregly, B.J., D’Lima, D.D., and Colwell, C.W. (2008) Effective gait modification strategies for offloading the medial compartment of the knee. In Proceedings of the ASME Summer Bioengineering Conference, SBC2008-192701, June 25-29, Marco Island, FL, The American Society of Mechanical Engineers, New York.
Lin, Y.C., Haftka, R.T., Queipo, N.V., and Fregly, B.J. (2008) Dynamic simulation of knee motion using three-dimensional surrogate contact modeling. In Proceedings of the ASME Summer Bioengineering Conference, SBC2008-190966, June 25-29, Marco Island, FL, The American Society of Mechanical Engineers, New York.
Walter, J.P., Banks, S.A., D’Lima, D.D., and Fregly, B.J. (2008) Prediction of internal contact forces at the knee from external measurements. In Proceedings of the ASME Summer Bioengineering Conference, SBC2008-193169, June 25-29, Marco Island, FL, The American Society of Mechanical Engineers, New York.
Fregly, B.J., Banks, S.A., D’Lima, D.D., and Colwell, C.W. (2007) Sensitivity of knee replacement contact conditions to kinematic measurement errors. In Proceedings of the XXI Congress of the International Society of Biomechanics, July 1-5, Taipei, Taiwan.
Fregly, B.J., Crossley, K., Hinman, R., and Schache, A. (2007) Evaluation of a medial-thrust gait pattern to reduce the peak knee adduction torque. In Proceedings of the XXI Congress of the International Society of Biomechanics, July 1-5, Taipei, Taiwan.
Lin, Y.-C., Haftka, R.T., Queipo, N.V., and Fregly, B.J. (2007) Sensitivity of knee simulator machine wear volume to variations in motion and load inputs and component placements. In Proceedings of the XXI Congress of the International Society of Biomechanics, July 1-5, Taipei, Taiwan.
Moro-oka, T., Hamai, S., Miura, H., Higaki, H., Shimoto, T., Fregly, B.J., Iwamoto, Y., and Banks, S.A. (2007) Dynamic activity dependence of normal knee kinematics in vivo. In Proceedings of the 53rd Annual Meeting of the Orthopaedic Research Society, February 11-14, 2007, San Diego, CA.
DiGiovanna, J., Sanchez, J.C., Fregly, B.J., and Principe, J.C. (2006) Arm motion reconstruction via feature clustering in joint angle space. In Proceedings of the International Joint Conference on Neural Networks, July 16-21, pp. 4678 - 4683, Vancouver, Canada.
Fregly, B.J. and Reinbolt, J.A.
(2006) Simulation-based treatment planning for knee osteoarthritis.
In Proceedings of the 30th Annual Meeting of the American Society
of Biomechanics, September 6-9, Blacksburg, VA (Invited panelist
presentation for special symposium on Clinical Application of
Modeling in Biomechanics).
Marquez-Barrientos, C.,
Zhao,
D., Banks, S.A., Mitchell, K.,
D’Lima, D., Colwell, C., and Fregly, B.J. (2006) The relationship
between the knee adduction torque and medial contact force during
gait. In Proceedings of the 5th World Congress of Biomechanics,
July 29-August 4, Munich,
Germany (accepted).
Lin, Y.-C., Haftka, R.T.,
Queipe, N.V., and Fregly, B.J. (2006) A generalized surrogate
contact model for dynamic simulations with anatomic joints. In Proceedings
of the 2006 Summer Bioengineering Conference, BIO2006-157789,
Amelia Island, Florida, The American Society of Mechanical
Engineers, New York.
Marquez-Barrientos, C.,
Reinbolt, J.A. and Fregly, B.J.
(2006) Benefits of automatic differentiation for biomechanical
optimizations. In Proceedings of the 2006 Summer Bioengineering
Conference, BIO2006-157681, Amelia Island, Florida, The American
Society of Mechanical Engineers, New York.
Zhao,
D., Banks, S.A., Mitchell, K.,
D’Lima, D., Colwell, C., and Fregly, B.J. (2006) The relationship
between the knee adduction torque and medial contact force during
gait. In Proceedings of the 2006 Summer Bioengineering Conference,
BIO2006-158035, Amelia Island, Florida, The American Society of
Mechanical Engineers, New York.
Zhao, D., Sakoda, H., Sawyer,
W.G.,
Lin, Y.C., Haftka, R.T.,
Queipo, N.V., and Fregly, B.J. (2006) A generalized analytical joint
contact model for dynamic musculoskeletal simulations. In Proceedings
of the 7th International Symposium on Computer Methods in
Biomechanics and Biomedical Engineering, manuscript 172,
Juan-les-Pins, France.
Fregly, B.J., Reinbolt, J.A.,
Koh, B.I., and Chmielweski, T.L. (2006) Evaluation of a
patient-specific cost function to predict the influence of foot path
on the knee adduction torque during gait . In Proceedings of the
7th International Symposium on Computer Methods in Biomechanics and
Biomedical Engineering, manuscript 173, Juan-les-Pins, France.
Fregly, B.J., Reinbolt, J.A.,
Rooney, K.L., Mitchell, K.H., and Chmielweski, T.L. (2006)
Predicting patient-specific gait modifications for knee
osteoarthritis rehabilitation. In Proceedings of the 7th
International Symposium on Computer Methods in Biomechanics and
Biomedical Engineering, manuscript 174, Juan-les-Pins, France.
Banks, S.A., Zhao, D., Fregly
B.J., D’Lima, D.D., and Colwell, C.W. Jr. (2006) Can
fluoroscopically derived kinematics be used to infer coronal knee
loads? In Proceedings of the 52nd Annual Meeting of the
Orthopaedic Research Society, p. 556,
Chicago,
IL.
Zhao, D., Fregly, B.J., Banks,
S.A., D’Lima, D.D., and Colwell, C.W. Jr. (2006) In vivo medial
and lateral tibial loads during gait, stair, kneel, and lunge
activities. In Proceedings of the 52nd Annual Meeting of the
Orthopaedic Research Society, p. 277,
Chicago,
IL.
Zhao, D., Fregly, B.J.,
Mitchell, K., D’Lima, D.D., Colwell, C.W. Jr., and
Zhao, D., Sawyer, W.G., and
Fregly, B.J. (2005) Computational wear prediction of UHMWPE in knee
replacements. In Proceedings of the ASTM Conference on Medical
and Surgical Materials and Devices, Winner of the Student Paper
Competition - Symposium on Wear of Articulating Surfaces:
Understanding Joint Simulation,
Dallas,
TX.
Fregly, B.J., Rooney, K.L., and Reinbolt, J.A. (2005) Predicted gait modifications to reduce the peak knee adduction torque. In Proceedings of the XXth Congress of the International Society of Biomechanics, p. 283, Cleveland, OH.
Koh, B.-I, Fregly, B.J., George, A.D., and Haftka, R.T. (2005) Parallel asynchronous particle swarm for global biomechanical optimization. In Proceedings of the 10th International Symposium on Computer Simulation in Biomechanics, p. 86-87, Cleveland, OH.
Lin, Y.-C., Fregly, B.J., Haftka, R.T., and Queipo, N.V. (2005) Surrogate-based contact modeling for efficient dynamic simulation with deformable anatomic joints. In Proceedings of the Tenth International Symposium on Computer Simulation in Biomechanics, p. 23-24, Cleveland, OH.
Reinbolt, J.A. and Fregly, B.J. (2005) Creation of patient-specific dynamic models from three-dimensional movement data using optimization. In Proceedings of the Tenth International Symposium on Computer Simulation in Biomechanics, p. 11-12, Cleveland, OH.
Zhao, D., Fregly, B.J., Banks, S.A., D'Lima, D.D., Colwell, Jr., C.W. (2005) Computational determination of in vivo medial and lateral tibial forces during gait. In Proceedings of the Tenth International Symposium on Computer Simulation in Biomechanics, p. 53-54, Cleveland, OH.
Zhao, D., Fregly, B.J., and Sawyer, W.G. (2005) Dynamic simulation of a simulator machine for knee implant damage prediction. In Proceedings of the IMechE Knee Arthroplasty Technology Conference, pp. 237-240, London, England.
Fregly, B.J. and Reinbolt, J.A. (2004) Estimation of body segment parameters from three-dimensional gait data using optimization. In Proceedings of the Eighth International Symposium on the 3D Analysis of Human Movement, pp. 13-16, Tampa, FL.
Koh, B.-I., Reinbolt, J.A., Fregly, B.J., and George, A.D. (2004) Parallel decomposition methods for biomechanical optimization. In Proceedings of the Eighth International Symposium on the 3D Analysis of Human Movement, pp. 69-72, Tampa, FL.
Lin, Y.-C. and Fregly, B.J. (2004) Experimental evaluation of a three-dimensional knee contact model using response surface optimization. In Proceedings of the Eighth International Symposium on the 3D Analysis of Human Movement, pp. 29-32, Tampa, FL.
Rooney, K. and Fregly, B.J. (2004) An inverse dynamics optimization approach for predicting human movement. In Proceedings of the Eighth International Symposium on the 3D Analysis of Human Movement, pp. 85-88, Tampa, FL.
Bei, Y., Fregly, B.J., Sawyer, W.G., and Banks, S.A. (2004) Predicted sensitivity of knee implant wear to insert thickness and body mass. In Proceedings of the 50th Annual Meeting of the Orthopaedic Research Society , Paper #1465, San Francisco, CA.
Fregly, B.J., Rahman, H., and Banks, S.A. (2004) An automated image matching procedure for measuring natural knee kinematics with single-plane fluoroscopy. In Proceedings of the 50th Annual Meeting of the Orthopaedic Research Society, Paper #0086, San Francisco, CA.
Banks, S.A., Fregly, B.J., Reinschmidt, C., Boniforti, F., and Romagnoli, S. (2004) In vivo gait and stair kinematics in patients with uni- and bi-unicondylar knee arthroplasty. of unicondylar and bi-unicondylar knee replacements. In Proceedings of the 50th Annual Meeting of the Orthopaedic Research Society, Paper #0243, San Francisco, CA.
Fregly, B.J., Sawyer, W.G., Harman, M.K., Banks, S.A., and Hodge, W.A. (2003) Knee arthroplasty wear prediction from in vivo kinematics. In Proceedings of the 16th Annual Symposium of the International Society for Technology in Arthroplasty, Paper #0086, San Francisco, CA.
Banks, S.A., Romagnoli, S., Boniforti, F., Canciani, J. P., Fregly, B.J., Reinschmidt, C., and Muenchinger, M. (2003) Revisiting the bicruciate retaining knee arthroplasty. In Proceedings of the 16th Annual Symposium of the International Society for Technology in Arthroplasty, Paper #0243, San Francisco, CA.
Schutte, J.F., Fregly, B.J., Haftka, R.T., and George, A.D. (2003) A parallel particle swarm algorithm. In Proceedings of the Fifth World Congress of Structural and Multidisciplinary Optimization, Venice, Italy.
Fregly, B.J., Sawyer, W.G., Harman, M.K., and Banks, S.A. (2003) Computational prediction of in vivo wear in total knee replacements. In Proceedings of the 2003 Summer Bionengineering Conference (Edited by Soslowsky, L.J., Skalak, T.C., Wayne, J.S., and Livesay, G.A.), pp. 1171-1172. The American Society of Mechanical Engineers, New York.
Sawyer, W.G., Hamilton, M.A., Sucec, M.C., Fregly, B.J., and Banks, S.A. (2003) Analysis of in vivo crossing motion in total knee replacements. In Proceedings of the 2003 Summer Bionengineering Conference (Edited by Soslowsky, L.J., Skalak, T.C., Wayne, J.S., and Livesay, G.A.), pp. 549-550. The American Society of Mechanical Engineers, New York.
Rahman, H., Fregly, B.J., and Banks, S.A. (2003) Accurate measurement of three-dimensional natural knee kinematics using single-plane fluoroscopy. In Proceedings of the 2003 Summer Bionengineering Conference (Edited by Soslowsky, L.J., Skalak, T.C., Wayne, J.S., and Livesay, G.A.), pp. 465-466. The American Society of Mechanical Engineers, New York.
Reinbolt, J.A., Schutte, J.F., Haftka, R.T., George, A.D., Mitchell, K.H., and Fregly, B.J. (2003) Determination of patient-specific functional axes through two-level optimization. In Proceedings of the 2003 Summer Bionengineering Conference (Edited by Soslowsky, L.J., Skalak, T.C., Wayne, J.S., and Livesay, G.A.), pp. 1317-318. The American Society of Mechanical Engineers, New York.
Schutte, J.F., Koh, B., Reinbolt, J.A., Haftka, R.T., George, A.D., and Fregly, B.J. (2003) Scale-independent biomechanical optimization. In Proceedings of the 2003 Summer Bionengineering Conference (Edited by Soslowsky, L.J., Skalak, T.C., Wayne, J.S., and Livesay, G.A.), pp. 55-56. The American Society of Mechanical Engineers, New York.
Romagnoli, S., Boniforti, F., Banks, S., Fregly, B., and Reinschmidt, C. (2003) Deep flexion kinematics in bi-cruciate retaining uni and bi-uni knee arthroplasty. In Proceedings of the 6th Congress of the European Federation of National Associations of Orthopaedics and Traumatology (EFORT), p. 282, Helsinki, Finland.
Banks, S.A., Boniforti, F, Fregly, B.J., Rahman, H., Reinschmidt, C., and Romagnoli, S. (2003) The kinematics of deep flexion in bi-cruciate retaining resurfacing knee arthroplasty. In Proceedings of the 49th Annual Meeting of the Orthopaedic Research Society, Poster #1323, New Orleans, LA.
Goede, T.E. and Fregly, B.J. (2001) Computational Modeling of Musculskeletal Mechanics. In Proceedings of the NASA Human Systems 2001 Conference, Johnson Space Center, Houston, TX.
Fregly, B.J. (2000) Effect of femoral component malrotation on contact stress in total knee replacements. In Proceedings of the 24th Annual Meeting of the American Society of Biomechanics, pp. 101-102. University of Illinois at Chicago.
Fregly, B.J. (1999) A three-dimensional compliant contact model for dynamic simulation of total knee replacements. In Proceedings of the VIIth International Symposium on Computer Simulation in Biomechanics, pp. 10-13. University of Calgary, Calgary, Alberta, Canada.
Fregly, B.J. (1997) A measurement procedure to reduce pedaling inverse dynamics errors due to linkage model inaccuracies. In Proceedings of the 1997 Bioengineering Conference (Edited by Chandran, K. B., Vanderby, R., and Hefzy, M. S.), BED-vol 35, pp. 449-450. The American Society of Mechanical Engineers, New York.
Fregly, B.J. and Whalen, R.T. (1995) Simulated changes in control strategy during altered gravity pedaling. In Proceedings of the Nineteenth Annual Meeting of the American Society of Biomechanics, pp. 67-68. Stanford University, Stanford, CA.