Computer-implemented motion analysis method using dynamics

• US 5,625,577 A
• Filed: 01/18/1994
• Issued: 04/29/1997
• Est. Priority Date: 12/25/1990
• Status: Expired due to Term

• Current Assignee: Shorinji Kempo Intellectual Property Protection Corporation
• Original Assignee: Kongo Zen Sohonzan Shorinji Shukyohojin
• Inventors: Sun, Lining, Kunii, Tosiyasu
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/182,545
• Time in Patent Office: 1,197 Days
• Field of Search: 395/500, 395/800, 395/80, 395/86, 395/95, 395/98, 395/63, 395/89, 395/578, 395/84-99, 364/512, 364/410, 364/478, 364/736, 364/DIG. 2, 364/413.01, 364/436, 364/555, 364/419.08, 364/167.01, 318/628, 318/646, 318/648, 318/568.12, 318/568.11, 318/568.1, 318/568.18, 318/561, 901/9, 901/14, 901/1, 901/3, 901/16, 901/15, 901/48, 128/782, 356/375, 356/141.3, 602/16, 33/512
• US Class Current: 703/2
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/36171 Edit velocity, motion profile, graphic plot of speed as function of time, position
• CPC Class Codes: G05B 2219/40395 Compose movement with primitive movement segments from database
• CPC Class Codes: G05B 2219/45176 Animation for film scenes, show
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51

Abstract

A motion analyzing method analyzes and displays motions of a human being or an animal using a computer in an interactive manner without requiring trial and error or without depending on intuition of an analyst. A human body or an animal body is divided into a plurality of segments connected by joints, each of the segments acting as a minimal unit of motion. Data for modeling the human or animal body on the basis of physical constraints and the inherent nature of each of the segments is maintained in a database. Motions are input to be analyzed and the input motions are analyzed using inverse dynamics. The resultant movements and the center of gravity of each of the segments, the force and torque exerted on each of the joints, the movement and the center of gravity of the whole body, and the forces and torques exerted on the centers of gravity are superimposed on the human or animal body model of the database and are displayed on a screen. The new motions thus displayed can be used for the teaching of new skills in the industrial or performing arts, in sports, or in animal training.

Claims

1. A motion analyzing method using a computer, comprising the steps of:

a) maintaining, in a database, data for modeling a moving body, which body has been divided into a plurality of segments, each of said segments connected by joints and each of said segments acting as a minimal unit of motion, said data relating to an inherent nature of each of said segments and physical constraints including inter-relationship of each segment and range of movements of said joints;

b) observing actual movements of a moving body, including a position of each said segment at predetermined intervals in the course of such actual movement;

c) analyzing the data as to the position of each said segment as observed during actual movements and calculating by inverse dynamics centers of gravity of each said segments and of the whole body, force and torque exerted on each of said centers of gravity and force and torque exerted on each of said joints;

d) inputting the calculated results from said calculating step into said database;

e) determining a new motion to be designed;

f) calculating by dynamics, and neglecting physical constraints, motion of each body segment, independently of the remaining body segments, based on forces corresponding to the new motion selected in said determining step using the data maintained in said database for previously analyzed motions and dynamic equations governing movement of each segment;

g) applying said physical constraints as stored in said database to check that each segment is articulated to the adjacent segment and that the movement of each joint does not exceed the range specified by said physical constraints, and adjusting the position of each segment until each of said physical constraints are met; and

h) displaying on a screen the resulting motion of the moving body as designed by said steps of calculating by dynamics and applying physical constraints.

2. A motion analyzing method in accordance with claim 1, further including, after said step g), the steps of:

i) analyzing the data as to the position of each said segment as a result of said applying and adjusting step g) and calculating by inverse dynamics centers of gravity of each of said segments and of the whole body, force and torque exerted on each of said centers of gravity and force and torque exerted on each of said joints, to thereby provide a reasonable and integrated set of forces for dynamics to produce the motions which have been adjusted due to the physical constraints; and

j) inputting into said database the calculated results from said analyzing and calculating step (i).