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보행 예측 시뮬레이션

보행 예측 시뮬레이션. 이 제 희 생체운동연구단 서울대학교. 보행 예측 시뮬레이션. 수술 전 보행 데이터 취득 모션 캡쳐 , 지면 반발력 , EMG 개인 별 골격 , 근력 , 근경직도 수술 계획에 따른 근골격 변형 골격 변형 , 근육 길이 , insertion, origin, tendon 길이 수술 후 보행 예측 시뮬레이션 시뮬레이션 평가. Newton’s Equation of Motion. mass. force. acceleration. Dynamic Simulation.

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보행 예측 시뮬레이션

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  1. 보행 예측 시뮬레이션 이 제 희 생체운동연구단 서울대학교

  2. 보행 예측 시뮬레이션 • 수술 전 보행 데이터 취득 • 모션 캡쳐, 지면 반발력, EMG • 개인 별 골격, 근력, 근경직도 • 수술 계획에 따른 근골격 변형 • 골격 변형, 근육 길이, insertion, origin, tendon 길이 • 수술후 보행 예측 시뮬레이션 • 시뮬레이션 평가

  3. Newton’s Equation of Motion mass force acceleration

  4. Dynamic Simulation • q : state of the body • Integrate force over time

  5. Path Tracking • PD (Proportional Derivative) Control

  6. Articulated Figure • q : Generalized state • M : System mass matrix • F : Gravity and External forces • C : Coriolis and centripetal forces • t : Joint forces

  7. Fully-Actuated System • Forward dynamics • Given (generalized) forces, • compute (generalized) accelerations • Inverse dynamics • Given (generalized) accelerations, • compute (generalized) forces

  8. Under-actuated System • Forward dynamics • Inverse dynamics • Given accelerations, we may not be able to compute forces that generate the desired accelerations

  9. Ground Reaction Force (GRF) • GRF is passive • we actuate our muscles, but • we can sense the magnitude of GRF • we cannot control GRF precisely • GRF is hemi-directional • Precisely controllable GRF facilitates • the control of underactuated system • If GRF were omni-directional, • the system is fully-actuated

  10. Muscle Force • Three-element Hill muscle model • one contractile active element • two passive non-linear springs • Actuator redundancy

  11. Technical Issues • Placing markers for motion capture • Acquiring individual skeletal models

  12. Individual Skeletal Models • Reconstruct bone shapes • from multiview X-ray images • Model-based approach • collection of 3D bone geometries (from CT) • principle component analysis (PCA)

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