Estimation of Physically and Physiologically Valid Somatosensory Information

Author

Yamane, Katsu ; Fujita, Yusuke ; Nakamura, Yoshihiko

Author_Institution

Department of Mechano-Informatics, University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656 Japan; yamane@ynl.t.u-tokyo.ac.jp

fYear

2005

fDate

18-22 April 2005

Firstpage

2624

Lastpage

2630

Abstract

The goal of this research is to enable precise estimation of human muscle forces in whole-body motions based not only on physiological muscle model but also on the equation of motion. The potential application areas include human-machine interface, medicine, biomechanics, and computer animation. Towards this goal, in this paper we discuss the inverse dynamics of musculoskeletal human model using the data from electromyogram (EMG) and force sensor. The inverse dynamics of musculoskeletal human models is formulated as an optimization problem subject to equality and inequality conditions taking into account of the equation of motion and muscle model from physiology literature. We evaluate the developed algorithm on a complex musculoskeletal model with 366 muscles driving a skeleton with 155 degrees of freedom.

Keywords

Electromyogram (EMG); Inverse Dynamics; Motion Capture; Musculoskeletal Human Model; Somatosensory Information; Animation; Application software; Biomechanics; Electromyography; Equations; Humans; Man machine systems; Motion estimation; Muscles; Musculoskeletal system; Electromyogram (EMG); Inverse Dynamics; Motion Capture; Musculoskeletal Human Model; Somatosensory Information;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570509

Filename

1570509