Download - 보행 예측 시뮬레이션
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보행 예측 시뮬레이션
이 제 희
생체운동연구단서울대학교
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보행 예측 시뮬레이션
수술 전 보행 데이터 취득모션 캡쳐 , 지면 반발력 , EMG개인 별 골격 , 근력 , 근경직도
수술 계획에 따른 근골격 변형골격 변형 , 근육 길이 , insertion, origin, tendon 길이
수술 후 보행 예측 시뮬레이션시뮬레이션 평가
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Newton’s Equation of Motion
force
mass
acceleration
maf
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Dynamic Simulation
q : state of the body
Integrate force over time
dttqtq
dtmtfdttatq
)()(
)()()(
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Path Tracking
)()()()()()( expexpexp tqtqktqtqktqtq pv
PD (Proportional Derivative) Control
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Articulated Figure
q : Generalized stateM : System mass matrixF : Gravity and External forcesC : Coriolis and centripetal forcest : Joint forces
),()(),()( qqFqqqCtqM t
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Fully-Actuated System
Forward dynamicsGiven (generalized) forces,compute (generalized) accelerations
Inverse dynamicsGiven (generalized) accelerations,compute (generalized) forces
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Under-actuated System
Forward dynamics
Inverse dynamicsGiven accelerations, we may not be able to compute forces that generate the desired accelerations
),()(),()( 1 qqFqqqCMtq t
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Ground Reaction Force (GRF)GRF is passive
we actuate our muscles, butwe can sense the magnitude of GRFwe cannot control GRF precisely
GRF is hemi-directionalPrecisely controllable GRF facilitates
the control of underactuated systemIf GRF were omni-directional,
the system is fully-actuated
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Muscle Force
Three-element Hill muscle modelone contractile active elementtwo passive non-linear springs
Actuator redundancy
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Technical Issues
Placing markers for motion capture
Acquiring individual skeletal models
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Individual Skeletal Models
Reconstruct bone shapes from multiview X-ray images
Model-based approachcollection of 3D bone geometries (from CT)principle component analysis (PCA)
nnaverage BcBcBB 11
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