Abstract: A motion analyzing method analyzes and displays motions of a human being or an animal using a computer in an interactive manner without requiring trial and error or without depending on intuition of an analyst. A human body or an animal body is divided into a plurality of segments connected by joints, each of the segments acting as a minimal unit of motion. Data for modeling the human or animal body on the basis of physical constraints and the inherent nature of each of the segments is maintained in a database. Motions are input to be analyzed and the input motions are analyzed using inverse dynamics. The resultant movements and the center of gravity of each of the segments, the force and torque exerted on each of the joints, the movement and the center of gravity of the whole body, and the forces and torques exerted on the centers of gravity are superimposed on the human or animal body model of the database and are displayed on a screen.

Abstract: A method for programming a robot or forming a numerical control program for a machine tool comprises analyzing the actual motions of a human being and designing a new motion based on knowledge obtained by analysis of the forces and torques acting on the joints of the human body. A robot body or machine tool is divided into a plurality of independent elements, and the motion of each element, when a force corresponding to a basic motion of a human being is exerted thereon, is calculated using dynamics. Constraints including the articulation of the robot body or machine tool and the range of movements of its joints are applied to the robot body or machine tool. Forces corresponding to motions produced by the application of constraints are calculated by inverse dynamics. The motions of and forces acting on the elements of the robot body or machine tool are displayed on a screen.