Problem
Research questions and friction points this paper is trying to address.
soft-rigid hybrid-link system
motion analysis
sport prosthesis
interaction force
inverse dynamics
Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis
🤖 AI Summary
Existing rigid multibody linkage models struggle to accurately capture the interaction between flexible prosthetic limbs and human skeletal structures. This work proposes a hybrid soft-rigid linkage system that, for the first time, integrates efficient flexible rod modeling techniques from soft robotics into human movement analysis, establishing a unified rigid–soft coupled dynamics framework. By combining rapid deformation computation of flexible rods with inverse kinematics-based motion reconstruction and inverse dynamics solving, the method simultaneously estimates joint torques, ground reaction forces, and muscle forces while accounting for prosthetic deformation and residual limb muscle deficiency. Experimental results demonstrate a ground reaction force estimation error of approximately 12%, validating the effectiveness and novelty of the proposed approach.
📝 Abstract
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.
Innovation
Methods, ideas, or system contributions that make the work stand out.
soft-rigid hybrid-link system
inverse dynamics
flexible prosthesis
motion analysis
musculoskeletal modeling
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