Inverse kinematics of a bilateral robotic human upper body model based on motion analysis data

Author(s):  
Derek Lura ◽  
Matthew Wernke ◽  
Stephanie Carey ◽  
Redwan Alqasemi ◽  
Rajiv Dubey
Author(s):  
Derek Lura ◽  
Stephanie Carey ◽  
Rajiv Dubey

This paper details an automated process to create a robotic model of a subject’s upper body using motion analysis data of a subject performing simple range of motion (RoM) tasks. The upper body model was created by calculating subject specific kinematics using functional joint center (FJC) methods, this makes the model highly accurate. The subjects’ kinematics were then used to find robotic parameters. This allowed the robotic model to be calculated directly from motion analysis data. The RoM tasks provide the joint motion necessary to ensure the accuracy of the FJC method. Model creation was tested using five healthy adult male subjects, with data collected using an eight camera Vicon© (Oxford, UK) motion analysis system. Common anthropometric measures were also taken manually for comparison to the FJC kinematic measures calculated from marker position data. The algorithms successfully generated models for each subject based on the recorded RoM task data. Analysis of the generated model parameters relative to the manual measures was performed to determine the correlations. Methods for replacing model parameters extracted from the motion analysis data with hand measurements are presented. The accuracy of the model generating algorithm was tested by reconstructing motion using the parameters and joint angles extracted from the RoM tasks data, correlated manual measurements, and height based correlations from literature data. Error was defined as the average difference between the recorded position and reconstructed positions and orientations of the hand. For all of the tested subjects the model generated using the RoM tasks data showed least average error over the tested trials. Each of the tested results were significantly different in position error with the FJC generated model being the most accurate, followed by the correlated measurement data, and finally the height based calculations. No difference was found between the end effector orientation of generated models. The models developed in this study will be used with additional subject tasks in order to better predict human motion.


Author(s):  
Hyun-Jung Kwon ◽  
Hyun-Joon Chung ◽  
Yujiang Xiang

The objective of this study was to develop a discomfort function for including a high DOF upper body model during walking. A multi-objective optimization (MOO) method was formulated by minimizing dynamic effort and the discomfort function simultaneously. The discomfort function is defined as the sum of the squares of deviation of joint angles from their neutral angle positions. The dynamic effort is the sum of the joint torque squared. To investigate the efficacy of the proposed MOO method, backward walking simulation was conducted. By minimizing both dynamic effort and the discomfort function, a 3D whole body model with a high DOF upper body for walking was demonstrated successfully.


2011 ◽  
Vol 34 (1) ◽  
pp. 71-75 ◽  
Author(s):  
Kam-Ming Mok ◽  
Daniel Tik-Pui Fong ◽  
Tron Krosshaug ◽  
Aaron See-Long Hung ◽  
Patrick Shu-Hang Yung ◽  
...  

2021 ◽  
Author(s):  
Ruijie Huang ◽  
Chenji Wei ◽  
Baozhu Li ◽  
Jian Yang ◽  
Suwei Wu ◽  
...  

Abstract Production prediction continues to play an increasingly significant role in reservoir development adjustment and optimization, especially in water-alternating-gas (WAG) flooding. As artificial intelligence continues to develop, data-driven machine learning method can establish a robust model based on massive data to clarify development risks and challenges, predict development dynamic characteristics in advance. This study gathers over 15 years actual data from targeted carbonate reservoir and establishes a robust Long Short-Term Memory (LSTM) neural network prediction model based on correlation analysis, data cleaning, feature variables selection, hyper-parameters optimization and model evaluation to forecast oil production, gas-oil ratio (GOR), and water cut (WC) of WAG flooding. In comparison to traditional reservoir numerical simulation (RNS), LSTM neural networks have a huge advantage in terms of computational efficiency and prediction accuracy. The calculation time of LSTM method is 864% less than reservoir numerical simulation method, while prediction error of LSTM method is 261% less than RNS method. We classify producers into three types based on the prediction results and propose optimization measures aimed at the risks and challenges they faced. Field implementation indicates promising outcome with better reservoir support, lower GOR, lower WC, and stabler oil production. This study provides a novel direction for application of artificial intelligence in WAG flooding development and optimization.


2018 ◽  
Vol 21 (16) ◽  
pp. 834-844 ◽  
Author(s):  
L. Tagliapietra ◽  
L. Modenese ◽  
E. Ceseracciu ◽  
C. Mazzà ◽  
M. Reggiani

Author(s):  
Mark A. Price ◽  
Andrew K. LaPrè ◽  
Russell T. Johnson ◽  
Brian R. Umberger ◽  
Frank C. Sup

Author(s):  
Kyungsoo Kim ◽  
Jun Seok Kim ◽  
Tserenchimed Purevsuren ◽  
Batbayar Khuyagbaatar ◽  
SuKyoung Lee ◽  
...  

The push-off mechanism to generate forward movement in skating has been analyzed by using high-speed cameras and specially designed skates because it is closely related to skater performance. However, using high-speed cameras for such an investigation, it is hard to measure the three-dimensional push-off force, and a skate with strain gauges is difficult to implement in the real competitions. In this study, we provided a new method to evaluate the three-dimensional push-off angle in short-track speed skating based on motion analysis using a wearable motion analysis system with inertial measurement unit sensors to avoid using a special skate or specific equipment insert into the skate for measurement of push-off force. The estimated push-off angle based on motion analysis data was very close to that based on push-off force with a small root mean square difference less than 6% when using the lateral marker in the left leg and the medial marker in the right leg regardless of skating phase. These results indicated that the push-off angle estimation based on motion analysis data using a wearable motion capture system of inertial measurement unit sensors could be acceptable for realistic situations. The proposed method was shown to be feasible during short-track speed skating. This study is meaningful because it can provide a more acceptable push-off angle estimation in real competitive situations.


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