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1. 发明授权

US08145440B2 Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US08145440B2
公开(公告)日：2012-03-27
申请号：US12348461
申请日：2009-01-05
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01L1/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： 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. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个线的关节角度的长度根据定义的雅可比JL将肌肉/绳索/带的读取产生的力f转换成广义力τG，存储广义力，确定产生的运动的全身的加速度当广义力τG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

2. 发明授权

US07490012B2 Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US07490012B2
公开(公告)日：2009-02-10
申请号：US10515019
申请日：2003-05-21
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01L1/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： 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. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个电线的关节角度的长度将肌肉/绳索/带的读取产生的力f转换成根据定义的雅可比JL的广义力tauG，存储广义力，确定产生的运动的全身的加速度当广义力tauG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

3. 发明申请

US20060100818A1 Body mechnics calculating method, body mechanics model, its model data, and body model producing method 有权
标题翻译：身体机械计算方法，身体力学模型，其模型数据和身体模型生成方法
公开(公告)号：US20060100818A1
公开(公告)日：2006-05-11
申请号：US10515019
申请日：2003-05-21
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01P11/00 , G01P7/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： 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. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算雅可比J 根据定义的雅可比J，将每根线的长度的L 关于角度的肌肉/绳索/带的读取产生的力f转换为广义力τN，存储广义力，确定当广义力τ“G”施加在身体上时产生的运动的全身的加速度，并且计算出每一个的速度和位置刚体链接，并存储它们。

4. 发明授权

US07308826B2 Muscular strength acquiring method and device based on musculoskeletal model 有权
标题翻译：基于肌肉骨骼模型的肌肉力量获取方法和装置
公开(公告)号：US07308826B2
公开(公告)日：2007-12-18
申请号：US11629694
申请日：2005-06-10
申请人： Yoshihiko Nakamura , Katsu Yamane , Yusuke Fujita , Akihiko Murai
发明人： Yoshihiko Nakamura , Katsu Yamane , Yusuke Fujita , Akihiko Murai
IPC分类号： A61B5/22
CPC分类号： A61B5/224 , A61B5/4523 , A61B5/4528 , A61B5/4533
摘要： 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 τC 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.
摘要翻译：本发明提供一种能够基于肌肉骨骼模型从运动数据获得身体和生理学上有效的肌肉力量的方法。本发明涉及通过进行肌肉骨骼模型的逆动力学计算来获得肌张力的方法。该方法包括使用获取的地面反作用力数据优化从环境接收的接触力τS的步骤，以及使用获取的运动数据，获取的肌原性潜能数据优化肌肉张力f的步骤，并优化接触力运动数据，反作用力数据和造血潜能数据可以通过行为捕获系统同时测量。

5. 发明授权

US07058551B2 High-speed dynamics computation for link system 失效
公开(公告)号：US07058551B2
公开(公告)日：2006-06-06
申请号：US10161609
申请日：2002-06-05
申请人： Yoshihiko Nakamura , Katsu Yamane
发明人： Yoshihiko Nakamura , Katsu Yamane
IPC分类号： G06F17/50
CPC分类号： G06F17/5086 , B25J9/1633 , G05B2219/39184
摘要： 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.

6. 发明授权

US08698899B2 Motion capture system and method for three-dimensional reconfiguring of characteristic point in motion capture system 有权
标题翻译：运动捕捉系统和运动捕捉系统特征点三维重构方法
公开(公告)号：US08698899B2
公开(公告)日：2014-04-15
申请号：US11911512
申请日：2006-04-11
申请人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
发明人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
IPC分类号： H04N5/225
CPC分类号： G06T7/596 , G06T7/55 , G06T2207/10021 , G06T2207/30208
摘要： 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.
摘要翻译：在光学运动捕捉系统中，可以通过增加测量点的数量来测量空间高密度数据。在使用网格标记的运动捕捉系统中，网格标记的线的交点称为节点，连接节点的线称为边。该系统包括多个相机，用于通过对具有网格标记的对象进行成像来捕获网格标记的二维图像，用于从所捕获的二维图像中检测网格标记上的节点/边缘信息的节点/边缘检测部分以及三维重建部分，用于通过使用从由不同摄像机捕获的多个二维图像中检测到的节点/边缘信息来获取节点的三维位置信息。

7. 发明授权

US07136722B2 Method for generating a motion of a human type link system 失效
标题翻译：用于产生人类链接系统的运动的方法
公开(公告)号：US07136722B2
公开(公告)日：2006-11-14
申请号：US10360873
申请日：2003-02-10
申请人： Yoshihiko Nakamura , Katsu Yamane , Manabu Tange
发明人： Yoshihiko Nakamura , Katsu Yamane , Manabu Tange
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , G05B2219/39323 , G05B2219/40316 , G05B2219/40517 , G06T13/40
摘要： 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.
摘要翻译：通过基于计算的外力的评估来确定当仅从运动学约束条件计算出的基准关节加速度时产生的链接系统的动态可行运动的人型联动系统，或者通过从动态约束条件和运动约束条件同时计算而产生动态约束条件，通过使用表示作用在链路系统上的力的关系的致动空间反向惯性矩阵来形成动态约束条件，由力引起的连杆系统的加速。

8. 发明申请

US20090295711A1 MOTION CAPTURE SYSTEM AND METHOD FOR THREE-DIMENSIONAL RECONFIGURING OF CHARACTERISTIC POINT IN MOTION CAPTURE SYSTEM 有权
标题翻译：运动捕获系统特征点三维重构运动捕获系统及方法
公开(公告)号：US20090295711A1
公开(公告)日：2009-12-03
申请号：US11911512
申请日：2006-04-11
申请人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
发明人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
IPC分类号： H04N13/00 , G09G5/00 , G06K9/00
CPC分类号： G06T7/596 , G06T7/55 , G06T2207/10021 , G06T2207/30208
摘要： 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.
摘要翻译：在光学运动捕捉系统中，可以通过增加测量点的数量来测量空间高密度数据。在使用网格标记的运动捕捉系统中，网格标记的线的交点称为节点，连接节点的线称为边。该系统包括多个相机，用于通过对具有网格标记的对象进行成像来捕获网格标记的二维图像，用于从所捕获的二维图像中检测网格标记上的节点/边缘信息的节点/边缘检测部分以及三维重建部分，用于通过使用从由不同摄像机捕获的多个二维图像中检测到的节点/边缘信息来获取节点的三维位置信息。

9. 发明申请

US20070256494A1 Muscular Strength Acquiring Method and Device Based on Musculoskeletal Model 有权
标题翻译：基于肌肉骨骼模型的肌肉力量获取方法和装置
公开(公告)号：US20070256494A1
公开(公告)日：2007-11-08
申请号：US11629694
申请日：2005-06-10
申请人： Yoshihiko Nakamura , Katsu Yamane , Yusuke Fujita , Akihiko Murai
发明人： Yoshihiko Nakamura , Katsu Yamane , Yusuke Fujita , Akihiko Murai
IPC分类号： A61B5/22
CPC分类号： A61B5/224 , A61B5/4523 , A61B5/4528 , A61B5/4533
摘要： 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 τC 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.
摘要翻译：本发明提供一种能够基于肌肉骨骼模型从运动数据获得身体和生理学上有效的肌肉力量的方法。本发明涉及通过进行肌肉骨骼模型的逆动力学计算来获得肌张力的方法。该方法包括使用获取的地面反作用力数据优化从环境接收的接触力τS的步骤，以及使用获取的运动数据，获取的肌原性潜能数据优化肌肉张力f的步骤，并优化接触力运动数据，反作用力数据和造血潜能数据可以通过行为捕获系统同时测量。

10. 发明授权

US07035436B2 Method of generating poses and motions of a tree structure link system 有权
公开(公告)号：US07035436B2
公开(公告)日：2006-04-25
申请号：US10212102
申请日：2002-08-06
申请人： Yoshihiko Nakamura , Katsu Yamane
发明人： Yoshihiko Nakamura , Katsu Yamane
IPC分类号： G06K9/00
CPC分类号： G06T13/40
摘要： 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.

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