Estimating Joint Moments Using Direct Collocation and Markerless Motion Capture
Author Information
Author(s): Wang Kuan, Zhang Linlin, Liang Leichao, Shao Jiang, Chen Xinpeng, Wang Huihao
Primary Institution: College of Rehabilitation Sciences, Shanghai University of Medicine and Health Sciences, Shanghai, China
Hypothesis
Incorporating joint center tracking terms with biological terms in the cost function will increase the robustness of kinetics estimation when joint trajectory inputs are noisy.
Conclusion
The direct collocation method can robustly estimate joint moments during walking and squatting across various noise levels.
Supporting Evidence
- The direct collocation method successfully tracked movements despite noise.
- The method was robust to typical noise levels encountered with markerless motion capture systems.
- Joint moments and ground reaction forces were estimated accurately across different noise levels.
- The inclusion of biological terms in the cost function helped manage noisy data.
- Tracking errors remained consistent across various noise scenarios.
Takeaway
This study shows that a new method can help accurately measure how our joints move, even when the data is a bit messy.
Methodology
The study used direct collocation to estimate joint moments from kinematic data affected by varying levels of noise during walking and squatting.
Limitations
The method yielded greater tracking errors in joint angles compared to previous methods, and the selected joint centers might be insufficient for accurate joint angle tracking.
Participant Demographics
10 healthy adults (6 female, 4 male) with an average age of 27.7 years, average mass of 69.2 kg, and average height of 1.74 m.
Digital Object Identifier (DOI)
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