A synergy‐based control solution for overactuated characters: Application to throwing

In the current paper, we present a bio‐inspired solution for the control of overactuated models in animation, such as musculoskeletal models. This solution consists in the extraction of muscle synergies from human experiments, followed by a control method consisting of a series of optimizations to adapt muscle parameters and synergies to match experimental data. We apply the framework on throwing motions, and the results show that these motions can be accurately reproduced on a character with a simplified muscular structure, while preserving important characteristics in the original synergies or control signals.

[1]  Nicolas Pronost,et al.  Interactive Character Animation Using Simulated Physics: A State‐of‐the‐Art Review , 2012, Comput. Graph. Forum.

[2]  A. Prochazka,et al.  Positive force feedback control of muscles. , 1997, Journal of neurophysiology.

[3]  C Pontonnier,et al.  A bio-inspired limb controller for avatar animation , 2014, Computer methods in biomechanics and biomedical engineering.

[4]  L. Chèze,et al.  Adjustments to McConville et al. and Young et al. body segment inertial parameters. , 2007, Journal of biomechanics.

[5]  幸村 琢.  Creating and Retargetting Motion by the Musculoskeletal Human Body Model , 2000 .

[6]  Gentiane Venture,et al.  Identifying musculo-tendon parameters of human body based on the musculo-skeletal dynamics computation and Hill-Stroeve muscle model , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[7]  Franck Plestan,et al.  Distribution of forces between synergistics and antagonistics muscles using an optimization criterion depending on muscle contraction behavior. , 2010, Journal of biomechanical engineering.

[8]  C. Karen Liu,et al.  Modal-space control for articulated characters , 2011, TOGS.

[9]  A. Muller,et al.  A Simple Method to Calibrate Kinematical Invariants: Application to Overhead Throwing , 2015 .

[10]  Hyunsoo Kim,et al.  Nonnegative Matrix Factorization Based on Alternating Nonnegativity Constrained Least Squares and Active Set Method , 2008, SIAM J. Matrix Anal. Appl..

[11]  Nicolas Pronost,et al.  A scalable geometrical model for musculotendon units , 2017, Comput. Animat. Virtual Worlds.

[12]  C. Karen Liu,et al.  Animating responsive characters with dynamic constraints in near-unactuated coordinates , 2008, SIGGRAPH 2008.

[13]  David G Lloyd,et al.  Neuromusculoskeletal modeling: estimation of muscle forces and joint moments and movements from measurements of neural command. , 2004, Journal of applied biomechanics.

[14]  A Muller,et al.  Dealing with modularity of multibody models , 2015, Computer methods in biomechanics and biomedical engineering.

[15]  J. Foley.  The co-ordination and regulation of movements , 1968 .

[16]  Vladlen Koltun,et al.  Animating human lower limbs using contact-invariant optimization , 2013, ACM Trans. Graph..

[17]  Andreas Daffertshofer,et al.  Removing ECG contamination from EMG recordings: a comparison of ICA-based and other filtering procedures. , 2012, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[18]  T. Ohtsuki,et al.  Sequential muscle activity and its functional role in the upper extremity and trunk during overarm throwing , 2002, Journal of sports sciences.

[19]  Michael Damsgaard,et al.  Analysis of musculoskeletal systems in the AnyBody Modeling System , 2006, Simul. Model. Pract. Theory.

[20]  Lena H Ting,et al.  Dimensional reduction in sensorimotor systems: a framework for understanding muscle coordination of posture. , 2007, Progress in brain research.

[21]  A. Shabana.  Vibration of Discrete and Continuous Systems , 1996, Mechanical Engineering Series.

[22]  Scott L. Delp,et al.  A Model of the Upper Extremity for Simulating Musculoskeletal Surgery and Analyzing Neuromuscular Control , 2005, Annals of Biomedical Engineering.

[23]  John Rasmussen,et al.  A generic detailed rigid-body lumbar spine model. , 2007, Journal of biomechanics.

[24]  Francesco Lacquaniti,et al.  Control of reaching movements by muscle synergy combinations , 2013, Front. Comput. Neurosci..

[25]  Maarten F. Bobbert,et al.  The contribution of muscle properties in the control of explosive movements , 1993, Biological Cybernetics.

[26]  James C. Houk,et al.  Neural Control of Muscle Length and Tension , 2011 .

[27]  Stefano Panzeri,et al.  Muscle synergies in neuroscience and robotics: from input-space to task-space perspectives , 2013, Front. Comput. Neurosci..

[28]  Maarten F Bobbert,et al.  Robust passive dynamics of the musculoskeletal system compensate for unexpected surface changes during human hopping. , 2009, Journal of applied physiology.

[29]  A. J. van den Bogert,et al.  Intrinsic muscle properties facilitate locomotor control - a computer simulation study. , 1998, Motor control.

[30]  J. Hodgins,et al.  Animating Human Athletes , 1998 .

[31]  O. Schmitt.  The heat of shortening and the dynamic constants of muscle , 2017 .

[32]  Ana Lucia Cruz Ruiz,et al.  Muscle‐Based Control for Character Animation , 2017, Comput. Graph. Forum.

[33]  Gentiane Venture,et al.  APPLICATION OF NON-LINEAR LEAST SQUARE METHOD TO ESTIMATE THE MUSCLE DYNAMICS OF THE ELBOW JOINT , 2006 .

[34]  Ana Lucia Cruz Ruiz,et al.  Motion control via muscle synergies: application to throwing , 2015, MIG.

[35]  Yujiang Xiang,et al.  Dynamic motion planning of overarm throw for a biped human multibody system , 2010 .

[36]  M. V. D. Panne,et al.  SIMBICON: simple biped locomotion control , 2007, SIGGRAPH 2007.

[37]  Taesoo Kwon,et al.  Locomotion control for many-muscle humanoids , 2014, ACM Trans. Graph..

[38]  Michiel van de Panne,et al.  Flexible muscle-based locomotion for bipedal creatures , 2013, ACM Trans. Graph..

[39]  E Kaneda,et al.  Coactivation of the flexor muscles as a synergist with the extensors during ballistic finger extension movement in trained kendo and karate athletes. , 1999, International journal of sports medicine.

[40]  N. A. Bernshteĭn.  The co-ordination and regulation of movements , 1967 .

[41]  Eftychios Sifakis,et al.  Realistic Biomechanical Simulation and Control of Human Swimming , 2014, ACM Trans. Graph..

[42]  Vladlen Koltun,et al.  Optimizing locomotion controllers using biologically-based actuators and objectives , 2012, ACM Trans. Graph..

[43]  Jessica K. Hodgins,et al.  Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces , 2004, SIGGRAPH 2004.

[44]  C Pontonnier,et al.  Identifying representative muscle synergies in overhead football throws , 2015, Computer methods in biomechanics and biomedical engineering.

[45]  Andrea d'Avella,et al.  Matrix factorization algorithms for the identification of muscle synergies: evaluation on simulated and experimental data sets. , 2006, Journal of neurophysiology.

[46]  Reinhard Blickhan,et al.  Positive force feedback in bouncing gaits? , 2003, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[47]  Hartmut Geyer,et al.  A Muscle-Reflex Model That Encodes Principles of Legged Mechanics Produces Human Walking Dynamics and Muscle Activities , 2010, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[48]  Walter Herzog,et al.  Model-based estimation of muscle forces exerted during movements. , 2007, Clinical biomechanics.

[49]  H F J M Koopman,et al.  Morphological muscle and joint parameters for musculoskeletal modelling of the lower extremity. , 2005, Clinical biomechanics.

[50]  David C. Brogan,et al.  Animating human athletics , 1995, SIGGRAPH.

[51]  T. Ohtsuki,et al.  Muscle activity and accuracy of performance of the smash stroke in badminton with reference to skill and practice , 2000, Journal of sports sciences.

[52]  H. Hermens,et al.  SENIAM 8: European recommendations for surface electromyography , 1999 .