Muscular Strength Acquiring Method and Device Based on Musculoskeletal Model
First Claim
1. A method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model, said method comprising:
- obtaining muscular tension by providing reaction force data, motion data and myogenic potential data to the following equation and by optimizing a contact force τ
C and muscle tension ƒ
.
τ
G=JTƒ
+JCTτ
Cwhere τ
G is generalized force, J is Jacobian of muscles, tendons and ligaments and JC is Jacobian of contact point.
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Abstract
The present invention provides a method capable of acquiring a physically and physiologically valid muscular strength from motion data based on a musculoskeletal model. The present invention relates to a method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model. The method comprises a step for optimizing a contact force τC received from an environment using acquired floor reaction force data and a step for optimizing the muscle tension ƒ using acquired motion data, acquired myogenic potential data, and optimized contact force. The motion data, reaction force data and myogenic potential data can be measured at the same time by a behavior capture system.
71 Citations
22 Claims
-
1. A method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model, said method comprising:
-
obtaining muscular tension by providing reaction force data, motion data and myogenic potential data to the following equation and by optimizing a contact force τ
C and muscle tension ƒ
.
τ
G=JTƒ
+JCTτ
Cwhere τ
G is generalized force, J is Jacobian of muscles, tendons and ligaments and JC is Jacobian of contact point.
-
-
2. A method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model by using the following equation
τ-
G=JTƒ
+JCTτ
Cwhere τ
G is generalized force, J is Jacobian of muscles, tendons and ligaments and JC is Jacobian of contact point,said method comprising;
optimizing a contact force τ
C received from an environment using acquired reaction force data; and
optimizing the muscle tension ƒ
using acquired motion data, acquired myogenic potential data, and optimized contact force.- View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10)
−- δ
m≦
EGƒ
≦
δ
m
0≦
δ
mand said objective function being replaced with
Z=aƒ
Tδ
ƒ
+aτ
Tδ
τ
+amTδ
mwhere am is a constant vector with positive components.
-
10. The method of claim 2, said method further comprising storing the obtained motion data and calculated muscle tension linking with each other as database.
-
G=JTƒ
-
11. An apparatus for obtaining muscular tension based on a musculoskeletal model comprising a processing unit and a memory device,
said memory device storing reaction force data, motion data, myogenic potential data and the following equation
τ-
G=JTƒ
+JCTτ
Cwhere τ
G is generalized force, J is Jacobian of muscles, tendons and ligaments and JC is Jacobian of contact point,said processing unit obtaining muscular tension by providing reaction force data, motion data and myogenic potential data to the following equation and by optimizing a contact force τ
C and muscle tension ƒ
. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
-
G=JTƒ
-
21. A computer program for causing a computer to operate as the following means to acquire muscular tension by performing inverse dynamics calculation of musculoskeletal model,
means for storing reaction force data, motion data, myogenic potential data and the following equation
τ-
G=JTƒ
+JCTτ
Cwhere τ
G is generalized force, J is Jacobian of muscles, tendons and ligaments and JC is Jacobian of contact point,means for optimizing a contact force τ
C received from an environment using reaction force data,means for storing the optimized contact force, means for optimizing a muscular tension ƒ
by using motion data, myogenic potential data and the optimized contact force - View Dependent Claims (22)
-
G=JTƒ
Specification