Creating personalized dynamic models

Abstract

In human motion science, the dynamics plays an important role. It relates the movement of the human to the forces necessary to achieve this movement. It also relates the human and its environment through interaction forces. Estimating subject-specific dynamic models is a challenging problem, due to the need for both accurate measurement and modeling formalisms. In the past decade, we have developed solutions for the computation of the dynamic quantities of humans, based on individual (subject specific) models, inspired largely by Robotics geometric and dynamic calibration. In this chapter, we will present the state of the art and our latest advances in this area and show examples of applications to both humans and humanoid robots. With these research results we hope to contribute beyond the field of robotics to the fields of biomechanics and ergonomics, by providing accurate dynamic models of beings.