1A1-M04 Real-time Identification and Visualization Find Persistent Excitation Trajectory for Whole Human Mass Properties
Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2009
The mass properties of the human body are crucial in biomechanics studies and for some medical applications. In our previous works, we experimentally identify the human body dynamics from motion capture data and contact force measurements. However, this method can identify only the minimal-set of inertial parameters, and it is difficult to find the persistent exciting trajectories to identify the whole parameters of a large number of DOF. In this paper, we have developed a software and interface for realtime estimation of the whole-set of inertial parameters. This interface visualizes the progression of the identification, and realizes the persistent exciting trajectories easily.