Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis

Kim, Sunghee; Ishigaki, Taiki; Shimane, Yuta; Ikegami, Yasuyuki; Yamamoto, Kazuhisa

doi:10.1109/humanoids53995.2022.10000195

Cited by 3 publications

(2 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The PCS model of the leaf-spring-shaped CFRP prosthesis (655g) used in [9], [8] was validated for the simulation by implicit integration. As shown in Fig.…”

Section: Verification Assuming Cfrpmentioning

confidence: 99%

“…Ishigaki and Yamamoto [7] proposed a hybrid link system with a floating base link that considers the contact forces with the environment and achieved a forward dynamics simulation of a humanoid robot with a flexible structure in its legs. Using the hybrid link system, the motion analysis of an athlete with a leaf-spring-type prosthesis leg is performed [8], [9]. It is also expected to be applied to research on the handling of deformable linear objects such as cables, which are widely used in the medical or industrial fields with rigid link robots [10].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Ishigaki,

Ayusawa,

Yamamoto

2024

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

Dynamic simulation of soft and flexible bodies is important for the motion planning and control of soft robot systems. This study presents a fast real-time simulation of the piecewise constant strain (PCS) model proposed in soft robotics research to calculate the dynamics of a beam or rod structure. We extend the theory of comprehensive motion transformation matrix (CMTM) to the PCS model, which allows us to systematically calculate the gradients in the equations of motion. Using the dynamic gradient, we perform a dynamic simulation of the PCS model via implicit integration. Compared to explicit integration, implicit integration allows us to use a larger time-step width for the integration without a flexible deformation divergence, which decreases the computational time. We present several examples of dynamic simulations, including a relatively rigid material such as carbon-fiber-reinforced plastics used in a leaf-spring-type sports prosthesis.

show abstract

“…The PCS model of the leaf-spring-shaped CFRP prosthesis (655g) used in [9], [8] was validated for the simulation by implicit integration. As shown in Fig.…”

Section: Verification Assuming Cfrpmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Ishigaki,

Ayusawa,

Yamamoto

2024

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

show abstract

Viscoelasticity estimation of sports prosthesis by energy-minimizing inverse kinematics and its validation by forward dynamics

Shimane,

Ishigaki,

Kim

et al. 2024

Advanced Robotics

View full text Add to dashboard Cite

In this study, we present a method for estimating the viscoelasticity of a leaf-spring sports prosthesis using advanced energy minimizing inverse kinematics based on the Piece-wise Constant Strain (PCS) model to reconstruct the three-dimensional dynamic behavior. Dynamic motion analysis of the athlete and prosthesis is important to clarify the effect of prosthesis characteristics on foot function. However, three-dimensional deformation calculations of the prosthesis and viscoelasticity have rarely been investigated. In this letter, we apply the PCS model to a prosthesis deformation, which can calculate flexible deformation with low computational cost and handle kinematics and dynamics. In addition, we propose an inverse kinematics calculation method that is consistent with the material properties of the prosthesis by considering the minimization of elastic energy. Furthermore, we propose a method to estimate the viscoelasticity by solving a quadratic programming based on the measured motion capture data. The calculated strains are more reasonable than the results obtained by conventional inverse kinematics calculation. From the result of the viscoelasticity estimation, we simulate the prosthetic motion by forward dynamics calculation and confirm that this result corresponds to the measured motion. These results indicate that our approach adequately models the dynamic phenomena, including the viscoelasticity of the prosthesis.

show abstract

Application of Piece-wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation

Shimane

Ishigaki

Kim

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis

Cited by 3 publications

References 14 publications

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation

Viscoelasticity estimation of sports prosthesis by energy-minimizing inverse kinematics and its validation by forward dynamics

Application of Piece-wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation

Contact Info

Product

Resources

About