WO2005122900A1 - 筋骨格モデルに基づく筋力取得方法及び装置 - Google Patents
筋骨格モデルに基づく筋力取得方法及び装置 Download PDFInfo
- Publication number
- WO2005122900A1 WO2005122900A1 PCT/JP2005/010645 JP2005010645W WO2005122900A1 WO 2005122900 A1 WO2005122900 A1 WO 2005122900A1 JP 2005010645 W JP2005010645 W JP 2005010645W WO 2005122900 A1 WO2005122900 A1 WO 2005122900A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- muscle tension
- muscle
- force
- acquiring
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4523—Tendons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4533—Ligaments
Definitions
- the present invention relates to a method for calculating a muscular strength capable of obtaining a kinetic / physiologically appropriate muscular strength based on a musculoskeletal model.
- “mechanically valid” means that the muscle tension satisfies the equation of motion.
- “physiologically appropriate” indicates that the muscle tension is actually generated by a human.
- Somatic sensation is a sensation perceived by receptors in the deep tissues of the surface of the body, and is divided into skin sensation such as tactile sensation and deep sensation occurring in motor organs such as muscles and tendons.
- the deep somatic sensation associated with exercise plays an important role in the medical field such as rehabilitation and surgery, and in sports science.
- machines must have the ability to estimate human somatic sensations in order for smooth human-machine interaction.
- Patent Document 1 JP 2003-339673
- G J C is the Jacobian of the point of contact.
- the muscle tension is calculated by using the acquired reaction force data to determine the contact force received from the environment.
- the exercise data is acquired by a motion capture system.
- the motion capture system for acquiring motion data is an optical motion capture system in one preferred example, but is used to acquire motion data.
- the motion capture method is not limited to the optical method.
- the reaction data is, in one embodiment, acquired by a force sensor.
- the reaction force data used is floor reaction force data
- the floor reaction force data is acquired by a force plate.
- the floor reaction force data may be acquired by a force sensor attached to the back side of the subject's foot.
- the myoelectric potential data is obtained by an electromyograph.
- the exercise data, the floor reaction force data, and the myoelectric potential data are measured simultaneously.
- the contact force is optimized by a quadratic programming method using a predetermined evaluation function and an inequality constraint
- the muscle tension is optimized by a linear programming method.
- the Jacobian J of the length of the muscle 'tendon' ligament with respect to the generalized force ⁇ G and the generalized coordinates can be calculated using the acquired motion data, and the Jacobian of the contact point is obtained. J can be calculated using the obtained reaction force data.
- the present invention includes a means for storing the acquired exercise data and the calculated muscle tension in association with each other as a database.
- the present invention can be provided not only as a method and an apparatus, but also as a computer program for executing a computer to obtain muscle tension by performing inverse dynamics calculation of a musculoskeletal model.
- muscle tension is calculated for a number of tasks' subjects, and if similarities are found in the use of antagonist muscles for each task, muscle tension can be estimated to some extent even without EMG's floor reaction force data. obtain.
- the present invention proposes a method for calculating a mechanically and physiologically valid muscle force by using motion data obtained by a motion capture and information on a simultaneously measured myoelectric potential and floor reaction force. Things.
- a human musculoskeletal model is composed of a large number of muscles and generally has a redundant drive train, so muscle strength is not uniquely determined.
- the standard muscles in various exercises If a database can be used, it would be possible to estimate the appropriate muscle strength even if information on myoelectric potential and floor reaction force could not be obtained.
- An apparatus for acquiring muscle tension includes a plurality of imaging means (cameras) for photographing a subject with a marker, a floor reaction force measurement means (force plate), and a myoelectric potential meter means. (Electromyograph) and one or more computer devices.
- the computer device includes an arithmetic processing unit for performing various calculations, an input unit, an output unit, a display unit, and a storage unit for storing various data. .
- the behavioral capture system simultaneously measures the myoelectric potential and the floor reaction force together with the exercise data, and considers this in the optimization of the muscle strength.
- Seri, Yamane, Nakamura “Simultaneous real-time measurement of consciousness behavior by the behavior capture system", Proc. , 2001.
- the behavior capture system is a system that aims to measure bidirectional information of human behavior in addition to a motion capture system that measures only the whole body motion of a human.
- the behavioral capture system measures and processes real-time simultaneous input information to humans (gaze point, etc.) and output information from humans (movement 'floor reaction' brain waves and human internal information). Information can be checked on a 3D screen as needed.
- the behavior capture system simultaneously measures motion capture data (exercise data), myoelectric potential, and floor reaction force, and uses them in optimizing muscle strength. Also get reasonable muscle strength.
- a musculoskeletal model as a premise for calculating muscle strength and inverse dynamics of the musculoskeletal model will be described.
- a human musculoskeletal model we use a model with a total of 54 7 muscle 'tendon' ligaments and a skeletal force with 155 degrees of freedom developed by our group (Fig. 1).
- each muscle 'tendon' ligament is represented by a single wire without thickness, but the mechanical properties such as via points and bifurcations are based on anatomical literature.
- Bone is a rigid link with mass. Muscles are wires that actively generate tension and relatively expand and contract. A tendon is a passively tensioning wire that is relatively inextensible. In addition, the tendon is connected to a muscle and transmits muscle tension to a distant place. A ligament is a passively tensioning wire that is relatively inextensible. The ligaments connect the bones and inhibit relative movement between the bones.
- the muscle 'tendon' ligament is generally modeled as a wire that passes through a start point, an end point, and zero or more transit points fixed to the bone.
- the via point is placed when the muscle is hooked on a part of the bone or when the tendon is restrained by the tendon sheath.
- the starting point, end point, and waypoint of the wire are fixed to the bone as a rule, but a virtual link is placed at the branch to describe the branching muscles, ligaments, and so on. In this way, the wire starts at one origin, passes through zero or more vias, and ends at one end.
- Inverse dynamics will be described.
- inverse dynamics the tension of the muscle 'tendon' ligament that realizes the movement is obtained based on the movement data obtained by movement measurement or movement generation such as choreography.
- the flow of the calculation method of inverse dynamics is: 1. Calculation of joint torque by inverse dynamics of a rigid link system; 2. Calculation of Jacobian for joint value of wire length; 3. Conversion of joint torque to wire tension; become.
- the generalized force corresponds to the joint torque
- the generalized force can be calculated using Newton-Euler Formulation or the like.
- the six degrees of freedom of the waist link are also driven, and includes the six-axis force acting on the waist link.
- J is defined by the following equation.
- the Jacobian J at the contact point is defined by the following equation.
- pc is the position of the contact point
- the number of muscles is larger than the number of degrees of freedom. I can't stop. Also, if two or more links are in contact with the environment, etc., an indeterminate problem occurs. In order to determine these values, it is necessary to perform optimization using some evaluation function.
- the contact force needs to satisfy certain conditions regarding the force in the normal direction, the center of pressure, the frictional force, and the like. Of these, the force in the normal direction will be addressed by including the following inequality constraints.
- a St Roeve's muscle model which is a formulation of the Hill and Wilkie's muscle model, is used.
- the relationship between muscle length and maximum isometric muscle strength is shown in Figure 2.
- Fig. 3 shows the relationship between the rate of change in muscle length and the maximum muscle tension.
- the muscle strength is zero, and the maximum muscle tension when the muscle length does not change corresponds to the maximum isometric muscle strength. Also, if a force greater than the maximum isometric muscle force is applied, the muscle will stretch.
- the IEMG obtained by integrating the measured values from the electromyograph with a certain time width indicates the motor nerve activity u.
- the relationship between u and muscle activity a is expressed by the following equation.
- F (1) corresponds to FIG. 2, and is approximated by the following Gaussian function.
- F (dotl) corresponds to FIG. 3 and is approximated by the following equation
- the myoelectric potential measured in a certain channel does not always correspond to one muscle in the musculoskeletal model, and the sum of potentials of several muscles may be measured. Even in such cases, the following equation should be included in the evaluation function, where ⁇ is the matrix that associates f with the measured values.
- Step 1 Contact force optimization using quadratic programming
- Step 2 Optimizing muscle tension using linear programming
- the improvement of the muscle strength optimization calculation will be described.
- the deviation from the average muscle tension of the muscle group is added to the evaluation function for muscle strength optimization. That is, the evaluation function
- E is the difference between the average value of the muscle tension of each muscle group
- n is the number of muscles belonging to muscle group k. Therefore, the difference between the tension of muscle n (nEG) kk and the average of the tension of muscles belonging to muscle group k is [Number 25] Is calculated by Where E is a horizontal vector with the same number of elements as the number of muscles,
- the muscle mainly generating tension among the muscles having the same role (elbow joint extension, etc.) (cooperating muscles) changes discontinuously.
- the tension of each muscle changes rapidly.
- the muscle tension can be averaged between the cooperating muscles, and a smoother change in the tension can be obtained.
- the floor reaction force is calculated as shown in the upper part of FIG.
- looking at the measured values of the vertical component of the floor reaction force it can be seen that the distribution of forces between the left and right legs has become imbalanced since the start of the motion, as shown in the middle part of Fig. 5.
- the distribution close to the measured values is obtained by considering the measured data, as shown in the lower part of Fig. 5.
- the calculation time required to optimize the floor reaction force is flat. The average was 8.8 ms.
- FIG. 6 shows a visual representation of the results when the EMG's floor reaction force data is used without using the force (upper row) and when the force is used (lower row).
- the color is changed to white black.
- muscle tension is calculated for a large number of tasks' subjects', and if similarities are found in the use of antagonists for each task, muscle tension can be estimated to some extent even if there is no EMG 'floor reaction force data. obtain.
- FIG. 1 is a diagram showing a human musculoskeletal model.
- FIG. 2 is a diagram showing the relationship between muscle length and maximum isometric muscle strength.
- FIG. 3 is a graph showing the relationship between the rate of change in muscle length and the maximum muscle tension.
- ⁇ 4 Diagrams showing calculated values and measured values of the right outer vastus muscle, where the upper row shows the calculation results without using the EMG's floor reaction force data, the middle row shows the measured EMG signal, and the lower row shows the EMG signal. The calculation results used are shown.
- FIG. 5 is a diagram showing calculated values and measured values of the vertical component of the floor reaction force.
- the upper row shows the calculation results without using the data of the myoelectric potential and the floor reaction force, and the middle row shows the vertical direction of the measured floor reaction force.
- the lower part shows the calculation results using the floor reaction force data.
- FIG. 6 is a diagram visually showing the results when the EMG 'floor reaction force data was not used (upper row) and when it was used (lower row).
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006514718A JP4590640B2 (ja) | 2004-06-16 | 2005-06-10 | 筋骨格モデルに基づく筋力取得方法及び装置 |
US11/629,694 US7308826B2 (en) | 2004-06-16 | 2005-06-10 | Muscular strength acquiring method and device based on musculoskeletal model |
EP05749047.6A EP1782733B1 (en) | 2004-06-16 | 2005-06-10 | Muscular strength acquiring method and device based on musculoskeletal model |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004178063 | 2004-06-16 | ||
JP2004-178063 | 2004-06-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005122900A1 true WO2005122900A1 (ja) | 2005-12-29 |
Family
ID=35509399
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/010645 WO2005122900A1 (ja) | 2004-06-16 | 2005-06-10 | 筋骨格モデルに基づく筋力取得方法及び装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7308826B2 (ja) |
EP (1) | EP1782733B1 (ja) |
JP (1) | JP4590640B2 (ja) |
WO (1) | WO2005122900A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008077551A (ja) * | 2006-09-25 | 2008-04-03 | Univ Of Tokyo | リンクの質量パラメータの推定法 |
JP2008247119A (ja) * | 2007-03-29 | 2008-10-16 | Mazda Motor Corp | 車両用運転支援装置 |
WO2009147875A1 (ja) * | 2008-06-04 | 2009-12-10 | 国立大学法人 東京大学 | 力学パラメータの同定法 |
WO2010013631A1 (ja) * | 2008-07-27 | 2010-02-04 | 国立大学法人東京大学 | 筋張力データベースの構築方法、筋張力データベース、筋張力データベースを用いた筋張力計算方法及び装置 |
JP2011255474A (ja) * | 2010-06-10 | 2011-12-22 | Univ Of Tokyo | 逆運動学を用いた動作・姿勢生成方法及び装置 |
JP2012116413A (ja) * | 2010-12-02 | 2012-06-21 | Nissan Motor Co Ltd | 移動体の操舵反力調整装置 |
JP2015011714A (ja) * | 2013-06-26 | 2015-01-19 | ダッソー システムズ シムリア コーポレイション | 有限要素解析、プロセス統合、および設計最適化を用いた筋骨格モデリング |
US11744500B2 (en) | 2020-09-23 | 2023-09-05 | Fujifilm Business Innovation Corp. | Information processing apparatus and non-transitory computer readable medium |
Families Citing this family (59)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080221487A1 (en) * | 2007-03-07 | 2008-09-11 | Motek Bv | Method for real time interactive visualization of muscle forces and joint torques in the human body |
EP2153370B1 (en) * | 2007-05-03 | 2017-02-15 | Motek B.V. | Method and system for real time interactive dynamic alignment of prosthetics |
US9844344B2 (en) | 2011-07-05 | 2017-12-19 | Saudi Arabian Oil Company | Systems and method to monitor health of employee when positioned in association with a workstation |
US9710788B2 (en) | 2011-07-05 | 2017-07-18 | Saudi Arabian Oil Company | Computer mouse system and associated, computer medium and computer-implemented methods for monitoring and improving health and productivity of employees |
US10307104B2 (en) | 2011-07-05 | 2019-06-04 | Saudi Arabian Oil Company | Chair pad system and associated, computer medium and computer-implemented methods for monitoring and improving health and productivity of employees |
US9962083B2 (en) * | 2011-07-05 | 2018-05-08 | Saudi Arabian Oil Company | Systems, computer medium and computer-implemented methods for monitoring and improving biomechanical health of employees |
US9492120B2 (en) | 2011-07-05 | 2016-11-15 | Saudi Arabian Oil Company | Workstation for monitoring and improving health and productivity of employees |
CN103781408B (zh) | 2011-07-05 | 2017-02-08 | 沙特阿拉伯石油公司 | 用于监测和改善雇员的健康和生产率的地垫系统以及相关的计算机介质和计算机实现方法 |
US10108783B2 (en) | 2011-07-05 | 2018-10-23 | Saudi Arabian Oil Company | Systems, computer medium and computer-implemented methods for monitoring health of employees using mobile devices |
US20130054021A1 (en) * | 2011-08-26 | 2013-02-28 | Disney Enterprises, Inc. | Robotic controller that realizes human-like responses to unexpected disturbances |
EP2677445A1 (en) * | 2012-06-21 | 2013-12-25 | Fujitsu Limited | Computer system, method and program to quantify the impact of a physical activity on a body |
US10042422B2 (en) | 2013-11-12 | 2018-08-07 | Thalmic Labs Inc. | Systems, articles, and methods for capacitive electromyography sensors |
US20150124566A1 (en) | 2013-10-04 | 2015-05-07 | Thalmic Labs Inc. | Systems, articles and methods for wearable electronic devices employing contact sensors |
US11921471B2 (en) | 2013-08-16 | 2024-03-05 | Meta Platforms Technologies, Llc | Systems, articles, and methods for wearable devices having secondary power sources in links of a band for providing secondary power in addition to a primary power source |
US10409928B1 (en) * | 2013-11-13 | 2019-09-10 | Hrl Laboratories, Llc | Goal oriented sensorimotor controller for controlling musculoskeletal simulations with neural excitation commands |
WO2015081113A1 (en) | 2013-11-27 | 2015-06-04 | Cezar Morun | Systems, articles, and methods for electromyography sensors |
US9880632B2 (en) | 2014-06-19 | 2018-01-30 | Thalmic Labs Inc. | Systems, devices, and methods for gesture identification |
US9889311B2 (en) | 2015-12-04 | 2018-02-13 | Saudi Arabian Oil Company | Systems, protective casings for smartphones, and associated methods to enhance use of an automated external defibrillator (AED) device |
US10642955B2 (en) | 2015-12-04 | 2020-05-05 | Saudi Arabian Oil Company | Devices, methods, and computer medium to provide real time 3D visualization bio-feedback |
US10475351B2 (en) | 2015-12-04 | 2019-11-12 | Saudi Arabian Oil Company | Systems, computer medium and methods for management training systems |
US10628770B2 (en) | 2015-12-14 | 2020-04-21 | Saudi Arabian Oil Company | Systems and methods for acquiring and employing resiliency data for leadership development |
JP6785472B2 (ja) | 2016-03-09 | 2020-11-18 | パナソニックIpマネジメント株式会社 | 起立動作支援装置、及び起立動作支援方法 |
US11511156B2 (en) | 2016-03-12 | 2022-11-29 | Arie Shavit | Training system and methods for designing, monitoring and providing feedback of training |
US11216069B2 (en) | 2018-05-08 | 2022-01-04 | Facebook Technologies, Llc | Systems and methods for improved speech recognition using neuromuscular information |
US10990174B2 (en) | 2016-07-25 | 2021-04-27 | Facebook Technologies, Llc | Methods and apparatus for predicting musculo-skeletal position information using wearable autonomous sensors |
CN110337269B (zh) | 2016-07-25 | 2021-09-21 | 脸谱科技有限责任公司 | 基于神经肌肉信号推断用户意图的方法和装置 |
US11000211B2 (en) | 2016-07-25 | 2021-05-11 | Facebook Technologies, Llc | Adaptive system for deriving control signals from measurements of neuromuscular activity |
EP3487595A4 (en) | 2016-07-25 | 2019-12-25 | CTRL-Labs Corporation | SYSTEM AND METHOD FOR MEASURING MOVEMENTS OF ARTICULATED RIGID BODIES |
US10489986B2 (en) | 2018-01-25 | 2019-11-26 | Ctrl-Labs Corporation | User-controlled tuning of handstate representation model parameters |
US10772519B2 (en) | 2018-05-25 | 2020-09-15 | Facebook Technologies, Llc | Methods and apparatus for providing sub-muscular control |
US11331045B1 (en) | 2018-01-25 | 2022-05-17 | Facebook Technologies, Llc | Systems and methods for mitigating neuromuscular signal artifacts |
US10896760B2 (en) | 2017-10-05 | 2021-01-19 | International Business Machines Corporation | Estimation of muscle activities using the muscles relationship during simulating movements |
CN112040858A (zh) | 2017-10-19 | 2020-12-04 | 脸谱科技有限责任公司 | 用于识别与神经肌肉源信号相关的生物结构的系统和方法 |
US10824132B2 (en) | 2017-12-07 | 2020-11-03 | Saudi Arabian Oil Company | Intelligent personal protective equipment |
WO2019147949A1 (en) * | 2018-01-25 | 2019-08-01 | Ctrl-Labs Corporation | Real-time processing of handstate representation model estimates |
US11069148B2 (en) * | 2018-01-25 | 2021-07-20 | Facebook Technologies, Llc | Visualization of reconstructed handstate information |
US11493993B2 (en) | 2019-09-04 | 2022-11-08 | Meta Platforms Technologies, Llc | Systems, methods, and interfaces for performing inputs based on neuromuscular control |
US11907423B2 (en) | 2019-11-25 | 2024-02-20 | Meta Platforms Technologies, Llc | Systems and methods for contextualized interactions with an environment |
WO2019148002A1 (en) * | 2018-01-25 | 2019-08-01 | Ctrl-Labs Corporation | Techniques for anonymizing neuromuscular signal data |
US11481030B2 (en) | 2019-03-29 | 2022-10-25 | Meta Platforms Technologies, Llc | Methods and apparatus for gesture detection and classification |
US11961494B1 (en) | 2019-03-29 | 2024-04-16 | Meta Platforms Technologies, Llc | Electromagnetic interference reduction in extended reality environments |
WO2019147996A1 (en) | 2018-01-25 | 2019-08-01 | Ctrl-Labs Corporation | Calibration techniques for handstate representation modeling using neuromuscular signals |
US11150730B1 (en) | 2019-04-30 | 2021-10-19 | Facebook Technologies, Llc | Devices, systems, and methods for controlling computing devices via neuromuscular signals of users |
WO2019147928A1 (en) | 2018-01-25 | 2019-08-01 | Ctrl-Labs Corporation | Handstate reconstruction based on multiple inputs |
US10937414B2 (en) | 2018-05-08 | 2021-03-02 | Facebook Technologies, Llc | Systems and methods for text input using neuromuscular information |
US10970936B2 (en) | 2018-10-05 | 2021-04-06 | Facebook Technologies, Llc | Use of neuromuscular signals to provide enhanced interactions with physical objects in an augmented reality environment |
US11567573B2 (en) | 2018-09-20 | 2023-01-31 | Meta Platforms Technologies, Llc | Neuromuscular text entry, writing and drawing in augmented reality systems |
US10592001B2 (en) | 2018-05-08 | 2020-03-17 | Facebook Technologies, Llc | Systems and methods for improved speech recognition using neuromuscular information |
EP3801216A4 (en) | 2018-05-29 | 2021-04-14 | Facebook Technologies, LLC. | SHIELDING TECHNIQUES FOR NOISE REDUCTION IN SURFACE ELECTROMYOGRAPHY SIGNAL MEASUREMENT AND RELATED SYSTEMS AND METHODS |
WO2019241701A1 (en) | 2018-06-14 | 2019-12-19 | Ctrl-Labs Corporation | User identification and authentication with neuromuscular signatures |
US11045137B2 (en) | 2018-07-19 | 2021-06-29 | Facebook Technologies, Llc | Methods and apparatus for improved signal robustness for a wearable neuromuscular recording device |
EP3836836B1 (en) | 2018-08-13 | 2024-03-20 | Meta Platforms Technologies, LLC | Real-time spike detection and identification |
CN112996430A (zh) | 2018-08-31 | 2021-06-18 | 脸谱科技有限责任公司 | 神经肌肉信号的相机引导的解释 |
CN112771478A (zh) | 2018-09-26 | 2021-05-07 | 脸谱科技有限责任公司 | 对环境中的物理对象的神经肌肉控制 |
EP3886693A4 (en) | 2018-11-27 | 2022-06-08 | Facebook Technologies, LLC. | METHOD AND DEVICE FOR AUTOCALIBRATION OF A PORTABLE ELECTRODE SENSING SYSTEM |
CN109758734A (zh) * | 2019-01-03 | 2019-05-17 | 华中科技大学 | 一种具有肌力反馈功能的多模式肌力训练装置及方法 |
US10905383B2 (en) | 2019-02-28 | 2021-02-02 | Facebook Technologies, Llc | Methods and apparatus for unsupervised one-shot machine learning for classification of human gestures and estimation of applied forces |
JP2022052364A (ja) * | 2020-09-23 | 2022-04-04 | 富士フイルムビジネスイノベーション株式会社 | 情報処理装置、及びプログラム |
US11868531B1 (en) | 2021-04-08 | 2024-01-09 | Meta Platforms Technologies, Llc | Wearable device providing for thumb-to-finger-based input gestures detected based on neuromuscular signals, and systems and methods of use thereof |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001286451A (ja) * | 2000-04-07 | 2001-10-16 | Rikogaku Shinkokai | 筋電信号の正規化基準値算出方法、内的力基準値算出方法、収縮度算出方法、内的力算出方法及びこれらの装置 |
JP2003339673A (ja) * | 2002-05-29 | 2003-12-02 | Japan Science & Technology Corp | 身体力学計算方法、身体力学計算プログラム及びそれを記録した記録媒体、身体力学モデル及びそのモデルデータを記憶した記録媒体 |
JP2004013474A (ja) * | 2002-06-06 | 2004-01-15 | Japan Science & Technology Corp | 身体モデル生成方法、身体モデル生成プログラム及びそれを記録した記録媒体、身体モデルデータを記録した記録媒体 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4133216B2 (ja) * | 2001-10-29 | 2008-08-13 | 本田技研工業株式会社 | 人間補助装置のシミュレーション・システム、方法、およびコンピュータ・プログラム |
US20060287612A1 (en) * | 2003-04-17 | 2006-12-21 | Duda Georg N | Method for simulating musculoskeletal strains on a patient |
-
2005
- 2005-06-10 US US11/629,694 patent/US7308826B2/en active Active
- 2005-06-10 EP EP05749047.6A patent/EP1782733B1/en active Active
- 2005-06-10 JP JP2006514718A patent/JP4590640B2/ja active Active
- 2005-06-10 WO PCT/JP2005/010645 patent/WO2005122900A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001286451A (ja) * | 2000-04-07 | 2001-10-16 | Rikogaku Shinkokai | 筋電信号の正規化基準値算出方法、内的力基準値算出方法、収縮度算出方法、内的力算出方法及びこれらの装置 |
JP2003339673A (ja) * | 2002-05-29 | 2003-12-02 | Japan Science & Technology Corp | 身体力学計算方法、身体力学計算プログラム及びそれを記録した記録媒体、身体力学モデル及びそのモデルデータを記憶した記録媒体 |
JP2004013474A (ja) * | 2002-06-06 | 2004-01-15 | Japan Science & Technology Corp | 身体モデル生成方法、身体モデル生成プログラム及びそれを記録した記録媒体、身体モデルデータを記録した記録媒体 |
Non-Patent Citations (1)
Title |
---|
FUJITA Y ET AL: "Kinkokkaku Jintai Model ni Okeru Kin Choryoku no Suri Keikaku Mondai. (Mathematical Programming Problem to solve muscle tensions of Musculo-Skeletal Human model)", JAPAN SOCIETY OF MECHANICAL ENGINEERS ROBOTIC MECHATRONICS., vol. 2003, 25 May 2003 (2003-05-25), XP002998113 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008077551A (ja) * | 2006-09-25 | 2008-04-03 | Univ Of Tokyo | リンクの質量パラメータの推定法 |
JP2008247119A (ja) * | 2007-03-29 | 2008-10-16 | Mazda Motor Corp | 車両用運転支援装置 |
WO2009147875A1 (ja) * | 2008-06-04 | 2009-12-10 | 国立大学法人 東京大学 | 力学パラメータの同定法 |
JP5288418B2 (ja) * | 2008-06-04 | 2013-09-11 | 国立大学法人 東京大学 | 力学パラメータの同定法 |
WO2010013631A1 (ja) * | 2008-07-27 | 2010-02-04 | 国立大学法人東京大学 | 筋張力データベースの構築方法、筋張力データベース、筋張力データベースを用いた筋張力計算方法及び装置 |
JP2010029340A (ja) * | 2008-07-27 | 2010-02-12 | Univ Of Tokyo | 筋張力データベースの構築方法、筋張力データベース、筋張力データベースを用いた筋張力計算方法及び装置 |
JP2011255474A (ja) * | 2010-06-10 | 2011-12-22 | Univ Of Tokyo | 逆運動学を用いた動作・姿勢生成方法及び装置 |
JP2012116413A (ja) * | 2010-12-02 | 2012-06-21 | Nissan Motor Co Ltd | 移動体の操舵反力調整装置 |
JP2015011714A (ja) * | 2013-06-26 | 2015-01-19 | ダッソー システムズ シムリア コーポレイション | 有限要素解析、プロセス統合、および設計最適化を用いた筋骨格モデリング |
US10402517B2 (en) | 2013-06-26 | 2019-09-03 | Dassault Systémes Simulia Corp. | Musculo-skeletal modeling using finite element analysis, process integration, and design optimization |
US11744500B2 (en) | 2020-09-23 | 2023-09-05 | Fujifilm Business Innovation Corp. | Information processing apparatus and non-transitory computer readable medium |
Also Published As
Publication number | Publication date |
---|---|
JPWO2005122900A1 (ja) | 2008-04-10 |
US20070256494A1 (en) | 2007-11-08 |
EP1782733A4 (en) | 2009-09-16 |
JP4590640B2 (ja) | 2010-12-01 |
US7308826B2 (en) | 2007-12-18 |
EP1782733B1 (en) | 2019-03-13 |
EP1782733A1 (en) | 2007-05-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2005122900A1 (ja) | 筋骨格モデルに基づく筋力取得方法及び装置 | |
JP5229796B2 (ja) | 筋張力データベースの構築方法、筋張力データベースを用いた筋張力計算方法及び装置 | |
De Zee et al. | A generic detailed rigid-body lumbar spine model | |
Carmichael et al. | Estimating physical assistance need using a musculoskeletal model | |
JP5540386B2 (ja) | 筋張力推定法及び装置 | |
Gordon et al. | Effectively quantifying the performance of lower-limb exoskeletons over a range of walking conditions | |
Sylvester et al. | A review of musculoskeletal modelling of human locomotion | |
Nasr et al. | Scalable musculoskeletal model for dynamic simulations of upper body movement | |
Yamane et al. | Estimation of physically and physiologically valid somatosensory information | |
Hayashibe et al. | Muscle strength and mass distribution identification toward subject-specific musculoskeletal modeling | |
Quental et al. | A multibody methodological approach to the biomechanics of swimmers including hydrodynamic forces | |
Gilles et al. | Grasping an object at floor-level: Is movement strategy a matter of age? | |
Oberhofer et al. | Anatomically-based musculoskeletal modeling: prediction and validation of muscle deformation during walking | |
Veloso et al. | Biomechanics modeling of human musculoskeletal system using Adams multibody dynamics package | |
Raison | On the quantification of joint and muscle efforts in the human body during motion | |
Clark | Biarticular muscles influence postural responses: implications for treatment of stiff-knee gait | |
García-Vergara et al. | Developing a baseline for upper-body motor skill assessment using a robotic kinematic model | |
Song et al. | A muscle-specific rehabilitation training method based on muscle activation and the optimal load orientation concept | |
Demircan | Robotics-based reconstruction and synthesis of human motion | |
Pranav et al. | Biomechanical analysis of railway workers during loaded walking and keyman hammering | |
Nahavandi et al. | Passive muscle force analysis during vehicle access: A gender comparison | |
Hansen et al. | Center of pressure based segment inertial parameters validation | |
Böhm et al. | Optimization of Human Motion Exemplified with Handbiking by Means of Motion Analysis and Musculoskeletal Models | |
IMBESI | Estimation of ground reaction forces with applications for ecological monitoring of joint loading: a combined musculoskeletal and optimization based proof of concept | |
Maldonado | Analysis and generation of highly dynamic motions of anthropomorphic systems: application to parkour |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2006514718 Country of ref document: JP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWW | Wipo information: withdrawn in national office |
Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005749047 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11629694 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 2005749047 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 11629694 Country of ref document: US |