Journal article
Enhanced optimisation-based inverse kinematics methodology considering joint discomfort
International Journal of Human Factors Modelling and Simulation, Vol.2(1-2), pp.111-126
01/01/2011
DOI: 10.1504/IJHFMS.2011.041640
Abstract
This paper presents an optimisation-based inverse kinematics (IK) method to compute realistic joint angles from marker-based positional data of a highly redundant three-dimensional digital human model. The effects of skin movement artefact and spine-shoulder joint coupling are alleviated by augmenting the optimisation problem with a skeletal discomfort function which is applied to the spine-shoulder-neck region only. The discomfort function ensures natural movement and avoids extreme joint motion. A key feature of the proposed error-minimisation-based method is that the error of the joint centre positions are not only minimised in the objective function, but also considered in the constraints so that the motion capture motion can be tracked more accurately. The methodology is demonstrated by three numerical examples, including vehicle-braking, throwing, and sprinting. The results showed that the proposed method is approved to be numerically stable and efficient to convert the motion capture data into joint space for a large-scale digital human model. Finally, the IK results are verified with the Visual3d software from C-motion.
Details
- Title: Subtitle
- Enhanced optimisation-based inverse kinematics methodology considering joint discomfort
- Creators
- Yujiang Xiang - Virtual Soldier Research (VSR) Program, Center for Computer Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USASalam Rahmatalla - Virtual Soldier Research (VSR) Program, Center for Computer Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USAJasbir S Arora - Virtual Soldier Research (VSR) Program, Center for Computer Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USAKarim Abdel-Malek - Virtual Soldier Research (VSR) Program, Center for Computer Aided Design (CCAD), The University of Iowa, Iowa City, IA 52242, USA
- Resource Type
- Journal article
- Publication Details
- International Journal of Human Factors Modelling and Simulation, Vol.2(1-2), pp.111-126
- DOI
- 10.1504/IJHFMS.2011.041640
- ISSN
- 1742-5549
- eISSN
- 1742-5557
- Publisher
- Inderscience Publishers Ltd
- Language
- English
- Date published
- 01/01/2011
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Injury Prevention Research Center; Mechanical Engineering
- Record Identifier
- 9983992045302771
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