CORRECTION OF MOTION CAPTURE DATA WITH RESPECT TO KINEMATIC DATA CONSISTENCY FOR INVERSE DYNAMIC ANALYSIS

摘要

Inverse dynamics analysis of human motion requires that the trajectories of the selected anatomical points are known. Therefore, standard motion capture technique by tracking marker points is generally used to obtain the trajectories. The tracking process, however, introduces high-frequency noise into the trajectories and the measured data can not be used directly to proceed in the inverse dynamic analysis. A mechanical system is consistent with kinematic data if the constraint equations of position and their time derivatives are satisfied by any parameters contained in the data set. Spurious reaction forces result from violations of the constraint equations using non consistent data. Therefore, a method is applied in this paper, whereby a new set of trajectories is generated by performing a projection of the observed positions, velocities and accelerations onto the corresponding constraint manifold to ensure the consistency of the data mentioned above. Finally, the kinematics of the system is described with the corrected data set.