Somatosensory computation for man-machine interface LE from motion-capture data and musculoskeletal human model
Somatosensory computation for man-machine interface LE from motion-capture data and musculoskeletal human model
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DOI：
10.1109/tro.2004.833798
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发表时间：
2005-02-01
影响因子：
7.8
通讯作者：
Suzuki, I
中科院分区：
文献类型：
--
作者：
Nakamura, Y;Yamane, K;Suzuki, I
在本文中，我们讨论的计算体感信息的运动捕捉数据。作者以前开发的多体系统，如人形机器人的有效的计算算法，应用到人体的肌肉骨骼模型。躯体感觉信息包括肌肉的张力、长度和速度，肌腱和韧带的张力，软骨的压力和骨骼的应力。将人体肌肉骨骼模型的逆动力学问题转化为满足等式和不等式条件的优化问题。分析了线性规划法和二次规划法的解，结果表明线性规划法具有更好的性能。技术发展的目的是定义一个更高维度的人机界面，并打开人类和机器之间认知层面的沟通之门。
In this paper, we discuss the computation of somatosensory information from motion-capture data. The efficient computational algorithms previously developed by the authors for multibody systems, such as humanoid robots, are applied to a musculoskeletal model of the human body. The somatosensory information includes tension, length, and velocity of the muscles, tension of the tendons and ligaments, pressure of the cartilages, and stress of the bones. The inverse dynamics of the musculoskeletal human model is-formulated as an optimization problem subject to equality and inequality conditions. We analyzed the solutions obtained by linear and quadratic programming methods, and showed that linear programming has better performance. The technological development aims to define a higher dimensional man-machine interface and to open the door to the cognitive-level communication of humans and machines.