Estimation of Physically and Physiologically Valid Somatosensory Information

Abstract

The goal of this research is to enable precise estimation of human muscle forces in whole-body motions based not only on physiological muscle model but also on the equation of motion. The potential application areas include human-machine interface, medicine, biomechanics, and computer animation. Towards this goal, in this paper we discuss the inverse dynamics of musculoskeletal human model using the data from electromyogram (EMG) and force sensor. The inverse dynamics of musculoskeletal human models is formulated as an optimization problem subject to equality and inequality conditions taking into account of the equation of motion and muscle model from physiology literature. We evaluate the developed algorithm on a complex musculoskeletal model with 366 muscles driving a skeleton with 155 degrees of freedom.