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Dynamic skin deformation simulation using musculoskeletal model and soft tissue dynamics

Computational Visual Media 2017年第1期3卷 49-60页

作者： Akihiko Murai Q.Youn Hong Katsu Yamane Jessica K.Hodgins National Institute of Advanced Industrial Science and Technology Tokyo135-0064Japan Carnegie Mellon University USA Disney Research USA

Deformation of skin and muscle is essential for bringing an animated character to life. This deformation is difficult to animate in a realistic fashion using traditional techniques because of the subtlety of the skin deformations that must move appropriately for the character design. In this paper, we present an algorithm that generates natural, dynamic, and detailed skin deformation(movement and jiggle) from joint angle data sequences. The algorithm has two steps: identification of parameters for a quasi-static muscle deformation model, and simulation of skin deformation. In the identification step, we identify the model parameters using a musculoskeletal model and a short sequence of skin deformation data captured via a dense marker set. The simulation step first uses the quasi-static muscle deformation model to obtain the quasi-static muscle shape at each frame of the given motion sequence(slow jump). Dynamic skin deformation is then computed by simulating the passive muscle and soft tissue dynamics modeled as a mass–spring–damper system. Having obtained the model parameters, we can simulate dynamic skin deformations for subjects with similar body types from new motion data. We demonstrate our method by creating skin deformations for muscle co-contraction and external impacts from four different behaviors captured as skeletal motion capture data. Experimental results show that the simulated skin deformations are quantitatively and qualitatively similar to measured actual skin deformations.

关键词： three-dimensional graphics and realism musculoskeletal model quasi-static muscle model dynamic skin deformation

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Angle Control of a Pneumatically Driven musculoskeletal model Based on Coordination of Agonist-Antagonist Muscle

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Journal of Mechanics Engineering and Automation 2012年第12期2卷 709-719页

作者： Yuki Honda Fumio Miyazaki Atsushi Nishikawa Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Toyonaka 560-8531 Japan Bioengineering Course Division of Mechanical Engineering and Robotics Faculty of Textile Science and Technology Shinshu University Ueda 386-8567 Japan

In recent years, researchers have been actively pursuing research into developing robots that can be useful in many fields of industry （e.g., service, medical, and aging care）. Such robots must be safe and flexible so that they can coexist with people. Pneumatic actuators are useful for achieving this goal because they are lightweight units with natural compliance. Our research focuses on joint angle control for a pneumatically driven musculoskeletal model. In such a model, we use a one-degree-of-freedom joint model and a five-fingered robot hand as test beds. These models are driven by low pressure-driven pneumatic actuators, and mimic the mechanism of the human hand and musculoskeletal structure, which has an antagonistic muscle pair for each joint. We demonstrated a biologically inspired control method using the parameters antagonistic muscle ratio and antagonistic muscle activity. The concept of the method is based on coordination of an antagonistic muscle pair using these parameters. We have investigated the validity of the proposed method both theoretically and experimentally, developed a feedback control system, and conducted joint angle control by implementing the test beds.

关键词： musculoskeletal model pneumatic actuator position control muscle coordination agonist-antagonist muscle.

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Analysis of Finger Muscular Forces using a Wearable Hand Exoskeleton System

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Journal of Bionic Engineering 2017年第4期14卷 680-691页

作者： Suin Kim Jeongsoo Lee Joonbum Bae Department of Mechanical Engineering UNIST Ulsan Korea

In this paper, the finger muscular forces were estimated and analyzed through the application of inverse dynamics-based static optimization, and a hand exoskeleton system was designed to pull the fingers and measure the dynamics of the hand. To solve the static optimization, a muscular model of the hand flexors was derived. The experimental protocol was devised to analyze finger flexors in order to evaluate spasticity of the clenched fingers; muscular forces were estimated while the flexed fingers were extended by the exoskeleton with external loads applied. To measure the finger joint angles, the hand exoskeleton system was designed using four-bar linkage structure and potentiometers. In addition, the external loads to the fingertips were generated by cable driven actuators and simultaneously measured by loadcells which were located at each phalanx. The ex- periments were performed with a normal person and the muscular forces estimation results were discussed with reference to the physical phenomena.

关键词： hand rehabilitation wearable system bionic exoskeleton musculoskeletal model inverse dynamics static opti-mization

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Computer-Based Estimation of Spine Loading during Self-Contained Breathing Apparatus Carriage

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Journal of Donghua University(English Edition) 2022年第4期39卷 373-378页

作者： WANG Shitan WANG Yunyi College of Fashion and Design Donghua UniversityShanghai 200051China

Firefighters’low back disorders(LBDs)are closely related to excessive spine loading when using the self-contained breathing apparatus(SCBA)*** purpose of this study was to quantify firefighters’spine loading and evaluate the effects of strap lengths of SCBA on altering spine ***-based musculoskeletal models of three varying-strapped SCBA conditions and a control condition(CC)with no SCBA equipped were *** model was driven using three-dimensional(3 D)inertial motion capture data from twelve male subjects performing a walking task and the predicted ground reaction force(GRF).Electromyography(EMG)activities were also recorded to validate the results from the *** 4 th-5 th lumbar vertebra(L4/L5)joint reaction forces,as well as erector spinae and rectus abdominis forces,were finally *** demonstrated that carrying SCBA significantly increased the compressive force and anteroposterior shear force at the *** risk of potential LBDs increased by about 17.77%.Dynamic balance of erector spinae and rectus abdominis contraction was also disturbed when carrying SCBA,indicating a higher risk of spine muscle *** of SCBA strap length was an efficient method to influence spine *** medium-fitting strap(MS)with a length of around 101 cm generated minimum joint reaction forces and achieved the optimum dynamic balance of spine muscle contraction,which was recommended for firefighters.

关键词： firefighter self-contained breathing apparatus(SCBA) low back disorder(LBD) musculoskeletal model

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