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Kinematic analysis of over-determinate biomechanical systems

机译：过度确定的生物力学系统的运动学分析

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In this paper, we introduce a new general method for kinematic analysis of rigid multi body systems subject to holonomic constraints. The method extends the standard analysis of kinematically determinate rigid multi body systems to the over-determinate case. This is accomplished by introducing a constrained optimisation problem with the objective function given as a function of the set of system equations that are allowed to be violated while the remaining equations define the feasible set.rnWe show that exact velocity and acceleration analysis can also be performed by solving linear sets of equations, originating from differentiation of the Karush-Kuhn-Tucker optimality conditions.rnThe method is applied to the analysis of an 18 degrees-of-freedom gait model where the kinematical drivers are prescribed with data from a motion capture experiment.rnThe results show that significant differences are obtained between applying standard kinematic analysis or minimising the least-square errors on the two fully equivalent 3D gait models with only the way the experimental data is processed being different.
机译：在本文中，我们介绍了一种受完整约束约束的刚体多体系统运动学分析的通用方法。该方法将运动学确定的刚性多体系统的标准分析扩展到了超确定的情况。这是通过引入一个约束优化问题而实现的，目标函数是一组系统方程的函数，而目标函数是可以违反的，而其余方程则定义了可行的集合。rn我们证明了也可以进行精确的速度和加速度分析通过求解源自Karush-Kuhn-Tucker最优性条件的微分方程组的线性方程组。该方法用于分析18自由度步态模型，其中运动驱动实验的数据指定了运动学驱动力结果表明，在两个完全等效的3D步态模型上应用标准运动分析或最小化最小平方误差之间存在显着差异，只是处理实验数据的方式不同。

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