Inertial Motion Capture-Based Whole-Body Inverse Dynamics
Abstract
:1. Introduction
2. Inverse Dynamics Model
2.1. Total Ground Reaction Force
2.1.1. Contact Detection
2.1.2. Decomposition of the Ground Reaction Force
- -
- Two equality constraints that ensure the equations of motion are satisfied by equating the sum of the right and left GRFs and GRMs to the total GRF and total GRM, obtained from the equations of motion (5) and (6):
- -
- One inequality constraint to ensure that the vertical components of GRFs are always pointing upward:
3. Research Methods
3.1. Experiment
- (1)
- Walking: Participants performed one gait cycle such that each foot landed on the corresponding FP.
- (2)
- Jumping: Participants jumped onto the FP from a stationary standing posture approximately 0.25 m behind the FPs.
- (3)
- Lifting (manual material handling): The experiment comprised three full handling cycles. At the beginning of each cycle the participant stood stationary with each foot on the corresponding FP. Then, the participant stooped while leaning to the left to pick up a box weighing 17 kg (dimensions 0.34 × 0.34 × 0.27 m), proceeded to move it, see Figure 4, to a corresponding location on the right side, and deposited it there, before returning to their initial position of stationary stance. To complete the cycle, the participant repeated the same steps to move the box back from front right to its home station at the front left. Figure 4 also shows a subject wearing the IMC system and highlights the IMU locations with blue dots.
3.2. Instrumentation and Data Pre-Processing
3.3. Statistical Analysis
4. Results
4.1. Ground Reaction Forces
4.2. Model Validation
4.3. Dynamic Biomechanical Analysis
5. Discussion
5.1. Ground Reaction Force
5.2. Model Validation
5.3. Dynamic Joint Loads
5.4. Limitation
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Conflicts of Interest
References
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Truth Measure | Parameter | Walking | Jumping | Lifting | ||||||
---|---|---|---|---|---|---|---|---|---|---|
VE | AP | ML | VE | AP | ML | VE | AP | ML | ||
RMSE | Total GRF (N) | 37.14 | 53.71 | 39.23 | 126.19 | 98.42 | 111.43 | 84.04 | 60.99 | 88.27 |
(14.04) | (25.86) | (8.67) | (55.21) | (30.54) | (37.58) | (42.99) | (21.25) | (22.13) | ||
Right GRF (N) | 137.02 | 50.27 | 33.59 | 474.57 | 354.91 | 286.49 | 137.02 | 50.27 | 33.59 | |
(27.43) | (12.23) | (4.17) | (83.36) | (99.05) | (131.40) | (27.43) | (12.23) | (4.17) | ||
Left GRF (N) | 139.76 | 63.16 | 25.77 | 471.98 | 335.02 | 298.60 | 139.76 | 63.16 | 25.77 | |
(30.59) | (24.62) | (6.97) | (81.96) | (91.62) | (124.78) | (30.59) | (24.62) | (6.97) | ||
rRMSE | Total GRF | 3.57 | 51.68 | 60.61 | 6.08 | 182.59 | 26.62 | 8.31 | 73.11 | 141.31 |
(0.74) | (11.22) | (12.82) | (2.07) | (122.08) | (5.84) | (5.05) | (25.00) | (58.21) | ||
Right GRF | 16.61 | 52.28 | 70.74 | 38.80 | 268.53 | 112.39 | 46.97 | 353.39 | 678.85 | |
(1.12) | (12.60) | (28.75) | (4.99) | (162.89) | (53.48) | (14.48) | (150.60) | (645.03) | ||
Left GRF | 16.37 | 82.52 | 60.21 | 48.51 | 323.32 | 166.72 | 46.98 | 380.69 | 670.22 | |
(1.55) | (12.30) | (23.39) | (7.52) | (227.24) | (65.97) | (11.94) | (147.16) | (708.72) | ||
ICC | Total GRF | 0.98 | 0.58 | 0.91 | 0.95 | 0.79 | 0.62 | 0.92 | −0.75 | −0.05 |
Right GRF | 0.99 | 0.80 | 0.01 | 0.31 | 0.07 | 0.05 | 0.64 | 0.19 | −0.04 | |
Left GRF | 0.96 | 0.49 | 0.37 | 0.22 | −0.06 | 0.01 | 0.73 | 0.02 | 0.03 |
Activity | RMSE (N.m) | rRMSE | ICC | ||||||
---|---|---|---|---|---|---|---|---|---|
L5/S1 | Right Shoulder | Left Shoulder | L5/S1 | Right Shoulder | Left Shoulder | L5/S1 | Right Shoulder | Left Shoulder | |
Walking | 2.34 | 0.22 | 0.19 | 11.85 | 5.09 | 6.74 | 0.97 | 0.99 | 0.97 |
(1.86) | (0.10) | (0.09) | (6.32) | (2.61) | (4.31) | ||||
Jumping | 10.03 | 0.15 | 0.19 | 11.27 | 1.98 | 3.09 | 0.98 | 0.99 | 0.99 |
(2.71) | (0.16) | (0.12) | (4.57) | (2.37) | (1.61) | ||||
Lifting | 15.20 | 1.01 | 2.27 | 5.44 | 2.88 | 5.89 | 0.90 | 0.97 | 0.93 |
(9.27) | (0.49) | (0.57) | (3.31) | (1.47) | (1.97) |
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Diraneyya, M.M.; Ryu, J.; Abdel-Rahman, E.; Haas, C.T. Inertial Motion Capture-Based Whole-Body Inverse Dynamics. Sensors 2021, 21, 7353. https://doi.org/10.3390/s21217353
Diraneyya MM, Ryu J, Abdel-Rahman E, Haas CT. Inertial Motion Capture-Based Whole-Body Inverse Dynamics. Sensors. 2021; 21(21):7353. https://doi.org/10.3390/s21217353
Chicago/Turabian StyleDiraneyya, Mohsen M., JuHyeong Ryu, Eihab Abdel-Rahman, and Carl T. Haas. 2021. "Inertial Motion Capture-Based Whole-Body Inverse Dynamics" Sensors 21, no. 21: 7353. https://doi.org/10.3390/s21217353