Forward dynamics simulation of human figures on assistive devices using geometric skin deformation model
Forward dynamics simulation of human figures on assistive devices using geometric skin deformation model
复制标题
利用几何皮肤变形模型对辅助器具上的人体进行正向动力学模拟
DOI：
10.1109/embc.2015.7318887
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Y. Endo
中科院分区：
文献类型：
--
作者：
Y. Yoshiyasu;Ko Ayusawa;E. Yoshida;Y. Matsumoto;Y. Endo
我们提出了一个前向动力学（FD）模拟技术的人物时，他们支持的辅助设备。通过将一个几何皮肤变形模型，称为线性混合蒙皮（蒙皮），到刚体骨骼动力学，我们可以建模的身体表面的时变几何形状的可行性和有效性。基于蒙皮模型，我们还推导出将施加在皮肤上的接触力映射到关节扭矩的雅可比矩阵（线性映射），这是本文的主要技术贡献。该算法使我们能够有效地模拟人体与辅助设备相互作用的动力学。实验结果表明，所提出的方法可以产生合理的运动，并可以估计的压力分布是大致可比的触觉传感器数据。
We present a forward dynamics (FD) simulation technique for human figures when they are supported by assistive devices. By incorporating a geometric skin deformation model, called linear blend skinning (skinning), into rigid-body skeleton dynamics, we can model a time-varying geometry of body surface plausibly and efficiently. Based on the skinning model, we also derive a Jacobian (a linear mapping) that maps contact forces exerted on the skin to joint torques, which is the main technical contribution of this paper. This algorithm allows us to efficiently simulate dynamics of human body that interacts with assistive devices. Experimental results showed that the proposed approach can generate plausible motions and can estimate pressure distribution that is roughly comparable to the tactile sensor data.
影响因子：
7.8
作者：
Nakamura, Y;Yamane, K;Suzuki, I
通讯作者：
Suzuki, I