JP5016687B2 - 人体における筋力と関節モーメントとをリアルタイムでインタラクティブに視覚化する方法 - Google Patents
人体における筋力と関節モーメントとをリアルタイムでインタラクティブに視覚化する方法 Download PDFInfo
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Classifications
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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- A—HUMAN NECESSITIES
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
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- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
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Description
Claims (10)
- 身体構造上の力を視覚表示し、出力するシステムを用いて、動いている身体の個々の筋力および関節モーメントをリアルタイムに算出・測定・記録・観察するための方法であって、
前記システムは、
リアルタイムの位置データを収集し、記録するためのモーション・キャプチャシステムと、
前記モーション・キャプチャシステムからデータを受信し、受信したデータから回転データを導き出すコンピュータと、
生体力学的身体骨格定義並びにマーカセットのテンプレートを備える第1のルックアップテーブルと、体重特性を備える第2のルックアップテーブルと、筋肉経路を備える第3のルックアップテーブルと、
前記コンピュータに搭載されている計算パイプライン、およびカラーアニメーションを表示するためのコンピュータディスプレイ装置とを備え、
前記方法は、
動いている前記身体を前記モーション・キャプチャシステムの範囲内に置き、
動いている前記身体の選択されたマーカポイントの3次元座標をリアルタイムで収集し、記録し、
3次元座標と、生体力学的身体骨格定義並びにマーカーセットのテンプレートを備える前記第1のルックアップテーブルとに基づいて、動いている身体の骨格姿勢をリアルタイムで計算し、
前記動いている身体の骨格姿勢と、前記骨格姿勢の一次導関数速度と、前記骨格姿勢の二次導関数加速度と、動いている前記身体に影響を与える外力を表す力ベクトルと、前記第2のルックアップテーブルからの体重特性と、を用いて、前記身体の関節モーメントをリアルタイムで計算し、
前記計算された骨格姿勢と前記第3のルックアップテーブルとに基づいて、筋長と筋肉モーメントアームとをリアルタイムで計算し、
二次計画法および前記二次計画法用の神経ネットワーク最適化アルゴリズムを用いて、前記計算された関節モーメントと、前記計算された筋長および筋肉モーメントアームとに基づいて、筋力をリアルタイムで計算し、
前記身体が動いている間に、前記計算された筋力から筋肉モデルのカラーアニメーションをリアルタイムで作成し、表示し、これにより、動いている前記身体の筋力の相対量が前記カラーアニメーションの各筋肉を相対的に色分けすることにより表されること、
を備える方法。 - 請求項1記載の方法において、前記筋肉モデルのカラーアニメーションはさらに、3Dベクトルアニメーションの尺度及び色で関節トルクを表現する、方法。
- 請求項1記載の方法はさらに、
少なくとも一つのモーション・キャプチャー・マーカーを、3次元座標により規定される前記身体上に設置し、
前記少なくとも一つのマーカーからリアルタイムの位置データを集めて記録し、
前記少なくとも一つのマーカーから得られた複数の位置データから回転データを導き出し、
前記骨格姿勢の速度と、前記骨格姿勢の加速度と、身体に影響を与える外力を表す前記力ベクトルと、をリアルタイムで算出することを備える、方法。 - 請求項1記載の方法において、前記身体は人体である、方法。
- 請求項1記載の方法において、前記モーション・キャプチャーシステムは、前記リアルタイムの位置データを検出するセンサーを備え、前記センサーは、光センサー、磁気センサー、慣性センサー、映像ベースのセンサーからなるセンサー群から選択される、方法。
- 請求項1記載の方法において、身体構造上の力を視覚表示し、出力する前記システムは、前記動いている身体を支持する機器を搭載したプラットフォームを備える、方法。
- 請求項2記載の方法において、前記筋力と前記関節トルクとを人体表現物上に表示する、方法。
- 請求項4記載の方法はさらに、人体の体型を近似する生体力学的身体骨格定義とマーカーセットのテンプレートとを選択することを備える、方法。
- 請求項1記載の方法において、前記計算パイプラインは、ヤコビ行列を用いて、前記リアルタイムでの計算を容易にする、方法。
- 請求項1記載の方法において、前記計算パイプラインは、再帰型ニューラル・ネットワークを用いて、前記リアルタイムでの計算を容易にする、方法。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US89339407P | 2007-03-07 | 2007-03-07 | |
US60/893,394 | 2007-03-07 | ||
US11/832,726 US20080221487A1 (en) | 2007-03-07 | 2007-08-02 | Method for real time interactive visualization of muscle forces and joint torques in the human body |
US11/832,726 | 2007-08-02 | ||
PCT/US2008/054239 WO2008109248A2 (en) | 2007-03-07 | 2008-02-19 | Method for real time interactive visualization of muscle forces and joint torques in the human body |
Publications (2)
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JP2010520561A JP2010520561A (ja) | 2010-06-10 |
JP5016687B2 true JP5016687B2 (ja) | 2012-09-05 |
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JP2009552792A Active JP5016687B2 (ja) | 2007-03-07 | 2008-02-19 | 人体における筋力と関節モーメントとをリアルタイムでインタラクティブに視覚化する方法 |
Country Status (6)
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US (2) | US20080221487A1 (ja) |
EP (1) | EP2120710B1 (ja) |
JP (1) | JP5016687B2 (ja) |
CA (1) | CA2680462C (ja) |
ES (1) | ES2679125T3 (ja) |
WO (1) | WO2008109248A2 (ja) |
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