Dynamics of Musculoskeletal Human Model

Musculoskeletal Human Model
fig.1  Musculoskeletal Human Model

Result of Inverse Dynamics
fig.2  Result of Inverse Dynamics


    In this research, we try to estimate the somatosensory information of human during whole-body motions. We developed a detailed musculoskeletal human model shown in Figure 1 and applied the dynamics computation algorithms for kinematic chains. The muscle forces are computed by linear or quadratic programming.
    Figure 2 illustrates a result of inverse dynamics computation, where the color of each muscle changes from yellow to red as the force increases.

  • Y. Nakamura, K. Yamane, I. Suzuki, and Y. Fujita: "Somatosensory Computation for Man-Machine Interface from Motion Capture Data and Musculoskeletal Human Model," IEEE Transactions on Robotics, 2004.
  • Y. Nakamura, K. Yamane, I. Suzuki, and Y. Fujita: "Dynamic Computation of Musculo-Skeletal Human Model Based on Efficient Algorithm for Closed Kinematic Chains," Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, SaP-I-2, March 2003.

Awards, Patents
-- Research Promotion Prize from the Robotics Society of Japan in 2003


Katsu Yamane, Mihoko Otake, Akihiko Murai, Koji Tatani
Kazutaka Kurihara, Ichiro Suzuki, Kennosuke Goshi, Yusuke Fujita

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