A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm

This paper aims at the development of a unified method for online identification and tracking of a kinematic musculoskeletal model of human arm to pave the way for related realtime applications, such as human-robot interaction, teleoperation and biomedical analysis. In order to decouple the identification of the joint angles of human arm kinematic model from a variety of motion capture (MoCap) setups, a generalized human arm triangle, which can be easily calculated by raw motion data, is introduced as an intermediate unified expression interface of human arm posture. An analytical solution to the Inverse Kinematics (IK) problem from the proposed human arm triangle to the joint angles of a commonly used OpenSim human right arm model is derived in detail. Once the human arm kinematic model is reconstructed, the involved muscles can be located correspondingly for related applications. Comparative simulation and experiment are conducted to validate the performance of the proposed IK and the whole tracking method. The results manifest that the calculation efficiency of the proposed IK can achieve an enormous speedup of 400-600 times with respect to the OpenSim built-in IK while maintaining comparable accuracy. Therefore, the proposed method can be an important tool to enable many online applications using human arm musculoskeletal model.

[1]  Cheng Fang,et al.  A DMPs-Based Framework for Robot Learning and Generalization of Humanlike Variable Impedance Skills , 2018, IEEE/ASME Transactions on Mechatronics.

[2]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[3]  Luquan Ren,et al.  Biomechanics of Musculoskeletal System and Its Biomimetic Implications: A Review , 2014 .

[4]  E V Biryukova,et al.  Kinematics of human arm reconstructed from spatial tracking system recordings. , 2000, Journal of biomechanics.

[5]  Takashi Minato,et al.  Physical Human-Robot Interaction: Mutual Learning and Adaptation , 2012, IEEE Robotics & Automation Magazine.

[6]  Andre Schiele,et al.  Bilateral Robot Teleoperation: A Wearable Arm Exoskeleton Featuring an Intuitive User Interface , 2014, IEEE Robotics & Automation Magazine.

[7]  Arnaud Barré,et al.  Biomechanical ToolKit: Open-source framework to visualize and process biomechanical data , 2014, Comput. Methods Programs Biomed..

[8]  Antonio Bicchi,et al.  Reduced-complexity representation of the human arm active endpoint stiffness for supervisory control of remote manipulation , 2018, Int. J. Robotics Res..

[9]  G. Harris,et al.  An upper extremity kinematic model for evaluation of hemiparetic stroke. , 2006, Journal of biomechanics.

[10]  Nikolaos G. Tsagarakis,et al.  Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm , 2018, 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[11]  Nikolaos G. Tsagarakis,et al.  Online Model Based Estimation of Complete Joint Stiffness of Human Arm , 2018, IEEE Robotics and Automation Letters.

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

[13]  D G Lloyd,et al.  Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim , 2017, Computer methods in biomechanics and biomedical engineering.

[14]  Xilun Ding,et al.  A Set of Basic Movement Primitives for Anthropomorphic Arms , 2013, 2013 IEEE International Conference on Mechatronics and Automation.

[15]  Nancy Byl,et al.  Redundancy Resolution of the Human Arm and an Upper Limb Exoskeleton , 2012, IEEE Transactions on Biomedical Engineering.

[16]  Péter Szolgay,et al.  Real-time inverse kinematics for the upper limb: a model-based algorithm using segment orientations , 2017, Biomedical engineering online.

[17]  Orlando Frazão,et al.  From conventional sensors to fibre optic sensors for strain and force measurements in biomechanics applications: a review. , 2014, Journal of biomechanics.

[18]  Xilun Ding,et al.  A Novel Method of Motion Planning for an Anthropomorphic Arm Based on Movement Primitives , 2013, IEEE/ASME Transactions on Mechatronics.

[19]  Anita Bagley,et al.  A method for determination of upper extremity kinematics. , 2002, Gait & posture.

[20]  Norman I. Badler,et al.  Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs , 2000, Graph. Model..