scholarly journals Correction of Motion Capture Data With Respect to Kinematic Data Consistency for Inverse Dynamic Analysis

2005 ◽  
Author(s):  
Wolfgang Seemann ◽  
Gu¨nther Stelzner ◽  
Christian Simonidis
Keyword(s):  
Dynamic Analysis ◽  
Motion Capture ◽  
Inverse Dynamics ◽  
Human Motion ◽  
Frequency Noise ◽  
Inverse Dynamic ◽  
Data Set ◽  
Kinematic Data ◽  
Constraint Equations ◽  
Inverse Dynamic Analysis

Inverse dynamics analysis of human motion requires that the trajectories of the selected anatomical points are known. Therefore, standard motion capture technique by tracking marker points is generally used to obtain the trajectories. The tracking process, however, introduces high-frequency noise into the trajectories and the measured data can not be used directly to proceed in the inverse dynamic analysis. A mechanical system is consistent with kinematic data if the constraint equations of position and their time derivatives are satisfied by any parameters contained in the data set. Spurious reaction forces result from violations of the constraint equations using non consistent data. Therefore, a method is applied in this paper, whereby a new set of trajectories is generated by performing a projection of the observed positions, velocities and accelerations onto the corresponding constraint manifold to ensure the consistency of the data mentioned above. Finally, the kinematics of the system is described with the corrected data set.

Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

2005 ◽  
Author(s):  
M. Necip Sahinkaya ◽  
Yanzhi Li
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
High Speed ◽  
Inverse Dynamics ◽  
Motion Path ◽  
Model Parameters ◽  
Control Input ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Dynamics Models

Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.

scholarly journals Musculoskeletal model-based inverse dynamic analysis under ambulatory conditions using inertial motion capture

2019 ◽  
Vol 65 ◽  
pp. 68-77 ◽  
Author(s):  
Angelos Karatsidis ◽  
Moonki Jung ◽  
H. Martin Schepers ◽  
Giovanni Bellusci ◽  
Mark de Zee ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Motion Capture ◽  
Musculoskeletal Model ◽  
Inertial Motion ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Model Based

Virtual Design and Inverse Dynamics Analysis of Aircraft Taxi-Mover Lifting Unit

2011 ◽  
Vol 121-126 ◽  
pp. 1545-1549
Author(s):  
Xu Dong Shi ◽  
Shou Wen Shi ◽  
Jian Li Li
Keyword(s):  
Dynamic Analysis ◽  
Inverse Dynamics ◽  
Dynamics Analysis ◽  
Virtual Design ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Parameterized Model ◽  
Inverse Dynamics Analysis

A new holding-lifting autosteer mechanism (HAM) is introduced which is fit for aircraft taxi-mover. The relation between the Multi-bar mechanism and tug operation of the aircraft on the taxiway is also discussed. With this understanding , a virtual parameterized model of holding-lifting autosteer mechanism is established by Pro/E . Based on Single-opened-chain , inverse dynamic analysis for planar parallel lifting unit is presented .

scholarly journals Inertial Motion Capture-Based Whole-Body Inverse Dynamics

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7353
Author(s):  
Mohsen M. Diraneyya ◽  
JuHyeong Ryu ◽  
Eihab Abdel-Rahman ◽  
Carl T. Haas
Keyword(s):  
Motion Capture ◽  
Inverse Dynamics ◽  
Intraclass Correlation ◽  
Ground Truth ◽  
Human Motion ◽  
Whole Body ◽  
Left Shoulder ◽  
Inertial Motion ◽  
Joint Moments ◽  
Inverse Dynamic

Inertial Motion Capture (IMC) systems enable in situ studies of human motion free of the severe constraints imposed by Optical Motion Capture systems. Inverse dynamics can use those motions to estimate forces and moments developing within muscles and joints. We developed an inverse dynamic whole-body model that eliminates the usage of force plates (FPs) and uses motion patterns captured by an IMC system to predict the net forces and moments in 14 major joints. We validated the model by comparing its estimates of Ground Reaction Forces (GRFs) to the ground truth obtained from FPs and comparing predictions of the static model’s net joint moments to those predicted by 3D Static Strength Prediction Program (3DSSPP). The relative root-mean-square error (rRMSE) in the predicted GRF was 6% and the intraclass correlation of the peak values was 0.95, where both values were averaged over the subject population. The rRMSE of the differences between our model’s and 3DSSPP predictions of net L5/S1 and right and left shoulder joints moments were 9.5%, 3.3%, and 5.2%, respectively. We also compared the static and dynamic versions of the model and found that failing to account for body motions can underestimate net joint moments by 90% to 560% of the static estimates.

Experimental Validation of a Dynamic Simulation

1990 ◽  
Author(s):  
K. Harold Yae ◽  
Su-Tai Chern ◽  
Howyoung Hwang
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Simulation ◽  
Time Domain ◽  
Experimental Validation ◽  
Initial Conditions ◽  
Hydraulic Cylinder ◽  
Force Output ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
The Time Domain

Abstract Using forward and inverse dynamic analysis, the dynamic simulation of a backhoe has been compared with experiments. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output from the hydraulic cylinder-all were measured in the time domain. When the experimental force history is used as driving force in the simulation, forward dynamic analysis produces a corresponding motion history. And when the experimental motion history is used as if a prescribed trajectory, inverse dynamic analysis generates a corresponding force history. Therefore, these two sets of motion and force histories — one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data — are compared in the time domain. The comparisons are discussed in regard to the effects of variations in initial conditions, friction, and viscous damping.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

scholarly journals Control of the boundary conditions of a dynamic knee simulator

2015 ◽  
Vol 6 (2) ◽  
pp. 7 ◽  
Author(s):  
Jan Tiré ◽  
Jan Victor ◽  
Patrick De Baets ◽  
Matthias Verstraete
Keyword(s):  
Boundary Conditions ◽  
Dynamic Analysis ◽  
Ankle Joint ◽  
Hip Joint ◽  
Degrees Of Freedom ◽  
Muscle Forces ◽  
Inverse Dynamic ◽  
Human Knee ◽  
Inverse Dynamic Analysis ◽  
Knee Simulator

At Ghent University a dynamic knee simulator to analyse the kinematics of a human knee has been developed. The rig is designed to perform tests on a mechanical hinge or on a human knee (with or without a prosthesis). The rig has one degree of freedom in a hip joint and four degrees of freedom in an ankle joint. There is currently one actuator that simulates the quadriceps forces. Two additional actuators are proposed in this paper to simulate the hamstrings forces. The magnitude and phase of the forces varies significantly during the movement (e.g. cycling or squatting). Literature indicates that the maximum muscle forces do not exceed 2000 N. An inverse dynamic analysis, using the musculoskeletal software AnyBody, is proposed to determine the evolution of these forces during the studied movements.

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