著者

鮎澤 光

出版者

東京大学

巻号頁・発行日

2011

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博士論文

著者

池上 洋介 李 昌憲 ブレスデル エレン 中村 仁彦 鮎澤 光 柏木 匠 久保田 奏 吉松 昭洋 中村 優介 井深 祐輝 石川 淳一 洪 舜傑

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集

巻号頁・発行日

vol.2011, pp.303-308, 2011

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In this paper, human muscle tension estimation based on robotics dynamics and its visualization technique was reported. Human muscle tension estimation was obtained by kinematics and dynamics using optical motion caputure data, force plate data and EMG signals. The environment for the motion capture and the calculation flow was explained. The visualization technique was explained. Tai chi, tap dance and drum motion was analyzed, respectively. The obtained findings of the experts' motion technique were reported.

著者

鮎澤 光 中村 仁彦

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2010, pp."2A1-A25(1)"-"2A1-A25(4)", 2010

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In this paper, we propose the model-free inverse kinematics method based on high order moment feature and its Jacobian matrix, which can use arbitrary shape information as reference input free from the structure of targeted kinematic chains. The method is especially useful to generate the motion of humanoid systems, and we can generate the whole body pose from the set of 3D markers or the pixels 2D images, without labeling each feature point of these data with the specified link of the humanoid. The moment feature can be computed from various types of quantities, for example, from geometric points, mass density, pixel images, and the labels of some featured links, which implies general versatility and applicability of the method. We show some results of motion of a human figure generated by the label-less 3D markers and the 2D images.