Motion analysis of a multi-joint system with holonomic constraints using Riemannian distance
Motion analysis of a multi-joint system with holonomic constraints using Riemannian distance
复制标题
使用黎曼距离的完整约束多关节系统的运动分析
DOI：
10.1080/01691864.2022.2099763
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发表时间：
2022
影响因子：
2
通讯作者：
Arimoto Suguru
中科院分区：
文献类型：
--
作者：
Sekimoto Masahiro;Arimoto Suguru
通过控制各连杆质量引起的非线性动力学，实现多关节运动。朝向目标的协作链接惯性动作实现节能运动，例如惯性运动。惯性运动为基础的运动分析是有益的，但具有挑战性的步行时，被认为是由于在非线性运动方程，这对应于脚和地面之间的完整约束的变化。在这项研究中，我们澄清了完整约束黎曼流形上两点之间的最短曲线对应于多关节系统的约束惯性运动，并且每个约束惯性运动都可以用最短曲线长度（黎曼距离）来一致地考虑。因此，通过比较测量运动的曲线长度与黎曼距离，我们开发了一种定量分析方法，用于测量测量步行到惯性运动的接近程度。这是适用于健康的人走在不同的惯性节奏和负载条件下。结果表明，在所有条件下，在摆动阶段的惯性运动的接近，包括在正常和高惯性行走的接近配置文件之间的相似性。这些发现验证了在多关节系统的运动分析和控制中引入基于黎曼距离的评价量。
Multi-joint movement is realized by controlling the nonlinear dynamics induced by the mass of each link. Collaborative link-inertia action towards a goal achieves energy-efficient motion, such as inertial movement. Inertial movement-based motion analysis is beneficial but challenging when walking is considered, owing to the alterations in the nonlinear equations of motion, which correspond to the holonomic constraints between the foot and ground. In this study, we clarified that the shortest curve between two points on holonomically constrained Riemannian manifolds corresponds to the constrained inertial movement of a multi-joint system, and that every constrained inertial movement can be consistently considered by the shortest-curve lengths (Riemannian distances). Accordingly, by comparing the curve length of the measured motion with the Riemannian distance, we developed a quantitative analysis method for measuring the proximity of a measured walk to the inertial movement. This was applied to healthy persons walking under different inertial cadences and load conditions. The results indicate the proximity to the inertial movement during the swing phase under all conditions, including the similarity between the proximity profiles in normal and high-inertia walks. These findings validate the introduction of a Riemannian distance-based evaluation quantity in the motion analysis and control of multi-joint systems.
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影响因子：
2
作者：
Ko Yamamoto;Takumi Kamioka;T. Sugihara
通讯作者：
Ko Yamamoto;Takumi Kamioka;T. Sugihara
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T
影响因子：
5.3
作者：
Biess, Armin;Liebermann, Dario G.;Flash, Tamar
通讯作者：
Flash, Tamar
DOI：
--
发表时间：
2020
期刊：
Adv. Robotics
影响因子：
--
作者：
Y. Tazaki;Masaki Murooka
通讯作者：
Masaki Murooka
通过非欧几里得度量的规定来塑造手臂配置空间并应用于人体运动控制。
DOI：
--
发表时间：
2013
期刊：
Physical review. E, Statistical, nonlinear, and soft matter physics
影响因子：
--
作者：
A. Biess
通讯作者：
A. Biess