Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method

摘要

A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian J_L of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τ_G according to the defined Jacobian J_L, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τ_G is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.