Contributions To Contact Simulation And Human Motion Analysis
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Contributions To Contact Simulation And Human Motion Analysis
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Author : Farnood Gholami
language : en
Publisher:
Release Date : 2016
Contributions To Contact Simulation And Human Motion Analysis written by Farnood Gholami and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
"This thesis contains contributions to contact simulation and human motion analysis. Effects of the foot and ankle modelling techniques on the foot kinematics and dynamics are investigated. The analyses are carried out based on experimental data obtained using a motion capture system. The appropriateness of modelling the human ankle joint based on a stationary axis of rotation is investigated and a technique is also proposed which is capable of predicting the directional changes of the ankle axis during the foot flexion. Furthermore, two main modelling assumptions related to the number of the foot segments and the dimension of the foot model were the subject of the foot dynamics analyses. Effects of these modelling assumptions on the ankle joint torque and power are determined. A framework was developed which quantifies the gait abnormality of multiple sclerosis (MS) patients using a Kinect camera. The reliability of such a framework in assessing gait parameters in MS patients is evaluated based on captured data by Kinect. Also, a novel set of MS gait indices based on the concept of dynamic time warping is introduced whichcan characterize a patient's gait pattern and quantify the subject's gait deviation from the healthy population. In the second part of the thesis, two algorithms, namely, the accelerated-box and the generalized inverse-based algorithms, were developed for contact dynamics simulation. The accelerated-box algorithm improves the simulation of rigid body contact problems, in particular when the system under consideration has redundant constraints. The mathematical formulation is expressed in terms of a mixed linear complementarity problem (MLCP). The accelerated-box approach is partly motivated by the box friction model which is one of the existing approaches to solve contact problems. The original box friction model suffers from certain drawbacks in the presence of a large number of contact points such as long computational time, divergence problems, and instability. On the other hand, the accelerated-box approach developed in this thesis overcomes such drawbacks by taking advantage of the sparse structure of the lead matrix of the MLCP. This new method reduces the sensitivity of the solution to the constraint relaxation terms and decreases the number of required pivots to obtain the solution, and hence, shorter computational times result. This approach accordingly suggests a more reliable method for real-time simulation of multibody systems. A method based on the use of the Moore-Penrose generalized inverse was developed to deal with systems with redundant contacts. This approach omits the necessity of relaxing the constraints when redundancy exists in the system. To develop such a method, the generalized inverse is incorporated inside the pivoting steps of the MLCP solver. The method is very stable and robust, and its computational time is considerably smaller than the counterpartmethods, specially for highly redundant systems. Finally, a novel complementarity problem formulation is introduced. In this formulation, contacts are characterized based on constraints for normal direction while friction forces are simultaneously regularized and incorporated into the formulation. The dimension of such a formulation is significantly lower in comparison with counterpart formulations in the literature. Redundant constraints can be handled via relaxing the constraints. The proposed regularized formulation is examined for benchmark examples and results show acceptable agreement with the expected behaviours, while the computational time is considerably reduced in comparison with other formulations in the literature. This formulation could be a useful and practical choice for real-time simulation of complex mechanical systems." --
Contact Modelling For Forward Dynamics Of Human Motion
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Author : Peter Brown
language : en
Publisher:
Release Date : 2017
Contact Modelling For Forward Dynamics Of Human Motion written by Peter Brown and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with Biomechanics categories.
Multibody forward dynamics models of the human body are often used in predictive simulations of human motion. An important component of these models is contact modelling. For example, foot-ground contact plays a crucial role in obtaining accurate results from a walking or running simulation and contact models of joints are necessary to determine accurate joint pressures. Contact models increase multibody system equation complexity (often dramatically) and can introduce nonlinearities and discontinuities into the system equations. This is particularly problematic in predictive simulations, which may determine optimal performance by running a model simulation thousands of times. A desirable contact model should be accurate enough to recreate physiological motion and contact pressures yet still efficient enough to use in an optimisation. A suitable contact model for multibody biomechanics is volumetric contact modelling. Volumetric contact modelling is ideally suited for large, conforming contacts, as is found in biomechanic applications, and has relatively simple, analytical equations (provided the contact surfaces can be approximated as simplified shapes). Another advantage is that volumetric contact can be used to calculate contact pressure, which is difficult to do with simpler point-contact models. In this thesis, volumetric contact was used in two biomechanics models to test its applicability: an anatomical knee model with tibiofemoral contact and a foot-ground contact model. The volumetric knee model was based on another knee model in the literature, with the contact model replaced with volumetric contact. The volumetric model ran faster than real-time and had similar contact forces to the original model. Further improvements are possible by using medical images to determine the contact geometry and including muscles in the model. A friction model is an important part of some biomechanic contact models, particularly the foot-ground contact model. A literature review revealed that many current friction models introduce discontinuities into system equations or are unnecessarily complex. A novel continuous friction model was developed which uses a minimum number of parameters for easy parametrisation. A novel, three-dimensional foot-ground contact model was developed and validated, for future use in a human gait simulation. The foot model used volumetric contact equations for ellipsoidal geometry (which were derived in this thesis, as an improvement on previous sphere-plane contact models). A gait experiment was used to parametrise and validate the model (except for the friction parameters). The model ran over 100 times faster than real-time (in an inverse simulation) and matched experimental normal force and centre of pressure location (with less than 7% root-mean-square error). It was discovered that the designed gait experiment could not be used to determine the friction parameters for the foot-ground model. A possible alternative was suggested, and the validation of the friction portion of the model was left to a future study. In conclusion, volumetric contact can be used to produce a computationally efficient and accurate contact model.
Human Motion
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Author : Bodo Rosenhahn
language : en
Publisher: Springer Science & Business Media
Release Date : 2008
Human Motion written by Bodo Rosenhahn and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Computers categories.
This is the first book which informs about recent progress in biomechanics, computer vision and computer graphics – all in one volume. Researchers from these areas have contributed to this book to promote the establishment of human motion research as a multi-facetted discipline and to improve the exchange of ideas and concepts between these three areas. The book combines carefully written reviews with detailed reports on recent progress in research.
Human Motion Simulation
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Author : Karim Abdel-Malek
language : en
Publisher: Academic Press
Release Date : 2013-05-30
Human Motion Simulation written by Karim Abdel-Malek and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-05-30 with Computers categories.
Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. Introduces rigorous mathematical methods for digital human modelling and simulation Focuses on understanding and representing spatial relationships (3D) of biomechanics Develops an innovative optimization-based approach to predicting human movement Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)
Simulating And Generating Motions Of Human Figures
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Author : Katsu Yamane
language : en
Publisher: Springer Science & Business Media
Release Date : 2004-01-15
Simulating And Generating Motions Of Human Figures written by Katsu Yamane and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-01-15 with Computers categories.
This book focuses on two issues related to human figures: realtime dynamics computation and interactive motion generation. In spite of the growing interest in human figures as both physical robots and virtual characters, standard algorithms and tools for their kinematics and dynamics computation have not been investigated very much. "Simulating and Generating Motions of Human Figures" presents original algorithms to simulate, analyze, generate and control motions of human figures, all focusing on realtime and interactive computation. The book provides both practical methods for contact/collision simulation essential for the simulation of humanoid robots and virtual characters and a general framework for online, interactive motion generation of human figures based on the dynamics simulation algorithms.
Human Motion Capture And Identification For Assistive Systems Design In Rehabilitation
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Author : Pubudu N. Pathirana
language : en
Publisher: John Wiley & Sons
Release Date : 2021-05-10
Human Motion Capture And Identification For Assistive Systems Design In Rehabilitation written by Pubudu N. Pathirana and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-05-10 with Technology & Engineering categories.
HUMAN MOTION CAPTURE AND IDENTIFICATION FOR ASSISTIVE SYSTEMS DESIGN IN REHABILITATION A guide to the core ideas of human motion capture in a rapidly changing technological landscape Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation aims to fill a gap in the literature by providing a link between sensing, data analytics, and signal processing through the characterisation of movements of clinical significance. As noted experts on the topic, the authors apply an application-focused approach in offering an essential guide that explores various affordable and readily available technologies for sensing human motion. The book attempts to offer a fundamental approach to the capture of human bio-kinematic motions for the purpose of uncovering diagnostic and severity assessment parameters of movement disorders. This is achieved through an analysis of the physiological reasoning behind such motions. Comprehensive in scope, the text also covers sensors and data capture and details their translation to different features of movement with clinical significance, thereby linking them in a seamless and cohesive form and introducing a new form of assistive device design literature. This important book: Offers a fundamental approach to bio-kinematic motions and the physiological reasoning behind such motions Includes information on sensors and data capture and explores their clinical significance Links sensors and data capture to parameters of interest to therapists and clinicians Addresses the need for a comprehensive coverage of human motion capture and identification for the purpose of diagnosis and severity assessment of movement disorders Written for academics, technologists, therapists, and clinicians focusing on human motion, Human Motion Capture and Identification for Assistive Systems Design in Rehabilitation provides a holistic view for assistive device design, optimizing various parameters of interest to relevant audiences.
Human Gait Simulation Using Motion Generation Methods From Robotics
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Author : Melya Boukheddimi
language : en
Publisher:
Release Date : 2020
Human Gait Simulation Using Motion Generation Methods From Robotics written by Melya Boukheddimi and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
The human body is a complex system made of more than 600 muscles, which contribute to the actuation of more than 200 Degrees of Freedom (DoFs) [35]. It is therefore a highly redundant system for most kinematic tasks. Many authors have suggested that the central nervous system does not independently control in real-time each muscle and DoFs [54]. Though the high number of muscles and DoFs makes motor control problems difficult, it offers high adaptation capabilities to the body for executing multiple tasks simultaneously when necessary [54]. Among the tasks that require a high level of motor coordination, bipedal gait is a crucial one. The bipedal gait is the natural means of human locomotion. Despite the fact that this movement is quite stereotyped across individuals, it is still unclear how the central nervous system coordinates the complex musculo-skeletal system for gait generation, and how the different sequences of the gait cycle are regulated. In order to address these issues, we proposed to simulate the human-like gait using a simplified model of poly- articulated rigid bodies (3D whole-body skeletal model including 42 degrees of freedom), on which we applied two different motion generation methods. Hence, this thesis is part of the human-like gait generation problem, using motion generation methods from robotics. The first contribution shows that controlling only a small set of adequately selected tasks is sufficient to closely reproduce the human gait kinematics. To this aim, a Hierarchical task controller is applied to the whole-body model with only 3 hierarchical tasks, to generate nine different human-like gaits. The analysis of the simulated gaits shows the emergence of significant human-like properties in walking. In order to validate our results, a comparison between the simulated and human reference joint rotations is conducted. In the end, a discussion is given to illustrate the interest of this approach comparing to related works.The second contribution is based on the well-known hypothesis that human motion is the result of an optimization process. We consider a reduced set of criteria, which seem to be optimized during the human gait, taken from the observation of human walking and the study of the related literature. Direct Optimal Control based on the Differential Dynamic Programming algorithm is applied following these criteria with the whole-body model to generate nine different walking motions. The simulated walking motions are then analyzed and compared to the human reference to show the quality of the gait generation process. The interest of this optimization approach for human-like motion generation is finally discussed. Finally, a comparison between the two methods from robotics is presented and discussed, involving an analysis of the obtained movements' quality.
Analysis And Simulation Of Contact Problems
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Author : Peter Wriggers
language : en
Publisher: Springer Science & Business Media
Release Date : 2006-08-15
Analysis And Simulation Of Contact Problems written by Peter Wriggers and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-08-15 with Science categories.
This carefully edited book offers a state-of-the-art overview on formulation, mathematical analysis and numerical solution procedures of contact problems. The contributions collected in this volume summarize the lectures presented by leading scientists in the area of contact mechanics, during the 4th Contact Mechanics International Symposium (CMIS) held in Hannover, Germany, 2005.
Handbook Of Human Motion
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Author :
language : en
Publisher: Springer
Release Date : 2018-04-24
Handbook Of Human Motion written by and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-24 with Technology & Engineering categories.
The Handbook of Human Motion is a large cross-disciplinary reference work which covers the many interlinked facets of the science and technology of human motion and its measurement. Individual chapters cover fundamental principles and technological developments, the state-of-the-art and consider applications across four broad and interconnected fields; medicine, sport, forensics and animation. The huge strides in technological advancement made over the past century make it possible to measure motion with unprecedented precision, but also lead to new challenges. This work introduces the many different approaches and systems used in motion capture, including IR and ultrasound, mechanical systems and video, plus some emerging techniques. The large variety of techniques used for the study of motion science in medicine can make analysis a complicated process, but extremely effective for the treatment of the patient when well utilised. The handbook descri bes how motion capture techniques are applied in medicine, and shows how the resulting analysis can help in diagnosis and treatment. A closely related field, sports science involves a combination of in-depth medical knowledge and detailed understanding of performance and training techniques, and motion capture can play an extremely important role in linking these disciplines. The handbook considers which technologies are most appropriate in specific circumstances, how they are applied and how this can help prevent injury and improve sporting performance. The application of motion capture in forensic science and security is reviewed, with chapters dedicated to specific areas including employment law, injury analysis, criminal activity and motion/facial recognition. And in the final area of application, the book describes how novel motion capture techniques have been designed specifically to aid the creation of increasingly realistic animation within films and v ideo games, with Lord of the Rings and Avatar just two examples. Chapters will provide an overview of the bespoke motion capture techniques developed for animation, how these have influenced advances in film and game design, and the links to behavioural studies, both in humans and in robotics. Comprising a cross-referenced compendium of different techniques and applications across a broad field, the Handbook of Human Motion provides the reader with a detailed reference and simultaneously a source of inspiration for future work. The book will be of use to students, researchers, engineers and others working in any field relevant to human motion capture.
Human Motion Analysis
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Author : Om Mishra
language : en
Publisher:
Release Date : 2023-03-27
Human Motion Analysis written by Om Mishra and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-03-27 with Science categories.
Human motion analysis is a rapidly growing field that involves studying the movement of the human body to gain a better understanding of how it functions. Om Mishra is an expert in this field, and his work has helped to advance our understanding of biomechanics, gait analysis, kinematics, electromyography, and other related areas. One of the most important applications of human motion analysis is in the field of physical therapy. By analyzing the movement of patients, therapists can develop more effective treatment plans that help to improve their mobility and reduce pain. Sports scientists also use motion analysis to study the movements of athletes, which can help them to optimize their training and performance. Another important area of research in human motion analysis is in the development of musculoskeletal models. These models simulate the motion of the human body, allowing researchers to study the effects of different movements on the musculoskeletal system. This research is particularly useful for understanding how injuries occur and how they can be prevented. Ergonomics is another important area of research in human motion analysis. By studying the movements of workers, ergonomists can design more efficient and comfortable workspaces that reduce the risk of injury and fatigue. Kinesiology is another related field that studies the mechanics of human movement, including how muscles and bones work together to produce motion. One of the most exciting areas of research in human motion analysis is in the use of motion capture technology. This technology allows researchers to track the movement of the human body in real-time, which can be used to study everything from human locomotion to the effects of different types of physical activity. Overall, the work of Om Mishra and others in the field of human motion analysis is helping to advance our understanding of the human body and how it moves. With continued research and development, this field has the potential to revolutionize the way we treat injuries, optimize training, and improve overall human performance.