Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis

This paper presents the kinematics of soft-rigid hybrid multi-link system and its application to motion analysis by the motion capture measurement. Analysis of a gait or sprint motion including a sports prosthetic leg is challenging because we need to consider the interaction between the human body and the flexible deformation of the prosthesis. To precisely calculate the flexible deformation with a low computational cost, we employ the piece-wise constant strain (PCS) model, and integrate it with a rigid-body link system that represents a human skeleton motion. This hybrid link system can appropriately represent the motion of an athlete wearing a prosthesis. In this paper, we focus on the inverse kinematics (IK) that is one of the fundamental calculations to analyze a human motion from the motion capture measurement. We report an experiment of a subject wearing a sports prosthesis and validate that the proposed hybrid link IK can reconstruct the measured motion.

[1]  Ko Yamamoto,et al.  Application of Piece-wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation , 2022, IEEE/RJS International Conference on Intelligent RObots and Systems.

[2]  Ko Yamamoto,et al.  Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies , 2021, 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[3]  Katja D. Mombaur,et al.  Inverse Optimal Control Based Enhancement of Sprinting Motion Analysis with and without Running-Specific Prostheses , 2018, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob).

[4]  M. Tada,et al.  Can forward dynamics simulation with simple model estimate complex phenomena?: Case study on sprinting using running-specific prosthesis , 2018 .

[5]  Lakmal D. Seneviratne,et al.  A Geometric and Unified Approach for Modeling Soft-Rigid Multi-Body Systems with Lumped and Distributed Degrees of Freedom , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[6]  Lakmal Seneviratne,et al.  Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics , 2017, IEEE Transactions on Robotics.

[7]  Anne Simmons,et al.  A prosthesis-specific multi-link segment model of lower-limb amputee sprinting. , 2016, Journal of biomechanics.

[8]  Jérémie Dequidt,et al.  Real-time control of soft-robots using asynchronous finite element modeling , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Christian Duriez,et al.  Control of elastic soft robots based on real-time finite element method , 2013, 2013 IEEE International Conference on Robotics and Automation.

[10]  Yoshihiko Nakamura,et al.  Fast inverse kinematics algorithm for large DOF system with decomposed gradient computation based on recursive formulation of equilibrium , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Tomomichi Sugihara,et al.  Solvability-Unconcerned Inverse Kinematics by the Levenberg–Marquardt Method , 2011, IEEE Transactions on Robotics.

[12]  Robert J. Webster,et al.  Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review , 2010, Int. J. Robotics Res..

[13]  Ayman Habib,et al.  OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement , 2007, IEEE Transactions on Biomedical Engineering.

[14]  Y. Nakamura,et al.  Somatosensory computation for man-machine interface from motion-capture data and musculoskeletal human model , 2005, IEEE Transactions on Robotics.

[15]  S. Antman.  Nonlinear problems of elasticity , 1994 .