Dynamically consistent inverse kinematics framework using optimizations for human motion analysis

S. Futamure, V. Bonnet, R. Dumas, D. Kulić, G. Venture

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch

2 Citations (Scopus)

Abstract

Human motion analysis is of crucial importance in countless applications such as human-robot interaction or during the design of assistive devices. Human motion should be estimated as accurately as possible at both kinematics and dynamics levels. Accurately estimating joint trajectories, inter-segmental loads, geometric parameters and body segment inertial parameters specific to each subject will allow most of the indexes used to quantify/analyze human motion to be reconstructed. In this study, a multi-objective optimization problem is formulated to estimate the joint angles, velocities, and accelerations. Moreover two constraint quadratic problems are used to determine geometric parameters and body segment inertial parameters. Contrary to state of the art methods that rely solely on marker data to perform inverse kinematics, the proposed approach relies on force-plate data to obtain dynamically consistent joint trajectories. The proposed approach is evaluated on a squat exercise, performed by 8 subjects, and shows an improved accuracy in joint kinematics and inertial parameter estimation over the classical methods.

Original languageEnglish
Title of host publication2016 IEEE-RAS 16th international Conference on Humanoid Robots (Humanoids 2016)
EditorsPaul Oh
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages436-441
Number of pages6
ISBN (Electronic)9781509047185, 9781509047178
ISBN (Print)9781509047192
DOIs
Publication statusPublished - 30 Dec 2016
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2016 - Cancun, Mexico
Duration: 15 Nov 201617 Nov 2016
Conference number: 16th

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots 2016
Abbreviated titleHumanoids 2016
Country/TerritoryMexico
CityCancun
Period15/11/1617/11/16

Keywords

  • Human motion analysis
  • Inverse kinematics
  • Multibody inverse dynamics

Cite this