Abstract: In an optical motion capture system, it is possible to measure spatially high-dense data by increasing the number of measuring points. In the motion capture system using a mesh marker, intersections of lines for the mesh marker are called nodes and the lines connecting the nodes are called edges. The system includes a plurality of cameras for capturing a two-dimensional image of the mesh marker by imaging a subject having the mesh marker, a node/edge detecting section for detecting node/edge information on the mesh marker from the two-dimensional image captured by the respective cameras, and a three-dimensional reconstructing section for acquiring three-dimensional position information of the nodes by using the node/edge information detected from the plurality of two-dimensional images captured by different cameras.

Abstract: A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model.

Abstract: A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model.

Abstract: The present invention provides a method capable of acquiring a physically and physiologically valid muscular strength from motion data based on a musculoskeletal model. The present invention relates to a method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model. The method comprises a step for optimizing a contact force ?C received from an environment using acquired floor reaction force data and a step for optimizing the muscle tension f using acquired motion data, acquired myogenic potential data, and optimized contact force. The motion data, reaction force data and myogenic potential data can be measured at the same time by a behavior capture system.

Abstract: The present invention provides a method capable of acquiring a physically and physiologically valid muscular strength from motion data based on a musculoskeletal model. The present invention relates to a method for obtaining muscular tension by performing inverse dynamics calculation of a musculoskeletal model. The method comprises a step for optimizing a contact force ?C received from an environment using acquired floor reaction force data and a step for optimizing the muscle tension ƒ using acquired motion data, acquired myogenic potential data, and optimized contact force. The motion data, reaction force data and myogenic potential data can be measured at the same time by a behavior capture system.

Abstract: A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.

Abstract: A high-speed forward dynamics computation for a link system wherein links are connected via joints, has: (1) first step for adding a joint one by one in series between the links to an initial link condition wherein all of the respective links are not connected via the joints so as to obtain a force of constraint acting at the joint between the links at that time; (2) second step for removing the joint in a reverse order as that of the first step so as to compute a final force of constraint at respective joints; (3) third step for computing an acceleration of respective links by utilizing applied forces obtained in the first step and the second step; and (4) fourth step for computing a joint acceleration by utilizing the accelerations of the links positioned at both ends of respective joints obtained at the third step.

Abstract: A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model.

Abstract: A method of generating poses and motions of a tree structure link system that is made by modeling of a man, animals, robots, etc., and consists of multiple links connected at joints, characterized in that by giving arbitrary numbers of constraint conditions to arbitrary numbers of arbitrary links, or by allowing adding or canceling the constraint conditions arbitrarily in the middle of the generation, the poses and the motions of the tree structure link system satisfying these constraint conditions are generated.

Abstract: This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.

Abstract: In a method of processing passive optical motion capture data having: an image capture step for capturing synchronized multiple camera images of a subject with passive optical markers; a three-dimensional reconstruction step for obtaining a set of three-dimensional coordinates of the markers from the picked-up data; a labeling step for deciding temporal correspondence between the markers in the subsequent captures and, thereby, locating the body part of the subject to which the markers are attached; and a joint angle calculation step for deciding an angle of each joint of a kinematic model to which the motion of subject is projected, on the basis of a set of labeled markers and computing a posture of the subject, the labeling step and the joint angle step are coupled as a loop and are performed simultaneously.

Abstract: A method of generating poses and motions of a tree structure link system that is made by modeling of a man, animals, robots, etc., and consists of multiple links connected at joints, characterized in that by giving arbitrary numbers of constraint conditions to arbitrary numbers of arbitrary links, or by allowing adding or canceling the constraint conditions arbitrarily in the middle of the generation, the poses and the motions of the tree structure link system satisfying these constraint conditions are generated.

Abstract: A high-speed forward dynamics computation for a link system wherein links are connected via joints, has: (1) first step for adding a joint one by one in series between the links to an initial link condition wherein all of the respective links are not connected via the joints so as to obtain a force of constraint acting at the joint between the links at that time; (2) second step for removing the joint in a reverse order as that of the first step so as to compute a final force of constraint at respective joints; (3) third step for computing an acceleration of respective links by utilizing applied forces obtained in the first step and the second step; and (4) fourth step for computing a joint acceleration by utilizing the accelerations of the links positioned at both ends of respective joints obtained at the third step.