用软硬混合系统分析穿运动假肢的运动员动作，精准估算受力与肌肉负荷。
Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis
- 构建软硬混合联动模型，统一处理人体刚体与柔性假肢的交互
- 逆动力学估算地面反作用力误差仅约12%，精度较高
- 适用于假肢适配、运动康复等需精确受力分析的场景
本文提出一种基于软硬混合联动系统的运动员运动分析框架，针对穿戴专用柔性假肢的运动员进行动作建模。该问题极具挑战性，因需考虑刚性人体骨骼系统与柔性假肢之间的相互作用力。现有大多数人体肌骨模型基于刚体多连杆系统计算框架，而近期软机器人领域发展出高效建模方法，可快速模拟柔性杆变形，使刚体与柔性体在统一形式下集成。本研究采用该混合系统的逆运动学从运动捕捉数据重建动作，并通过逆动力学估计关节扭矩与地面反作用力。实验表明，逆动力学对地面反作用力的估计误差约为12%。此外，还考虑了肌肉截肢情况及假肢腿形变带来的交互力，实现肌肉力估算。
原文摘要 · Abstract (English)
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。