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Real Time Dynamics and Control of a Digital Human Arm for Reaching Motion Simulation

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Advances in Artificial Reality and Tele-Existence (ICAT 2006)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 4282))

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Abstract

High-fidelity simulations for dynamics and movement control of the human arm is a complex and challenging problem. To realize such high-quality response in real time using today’s computing power is simply not possible. In this paper we have presented a simplified, neural network-based dynamics model of a digital human arm for simulating its reaching movements. The arm is modeled as an assemblage of 2 rigid bodies connected by joints and muscles. A Hill-type model is used to capture the muscle forces. Activation dynamics via a low-pass filtering operation is applied to trigger musculotendon contractions. Since we are interested in real-time macro response, we have replaced the forward dynamics module with a recurrent neural network approach. The results of our simulation show that the model produces fairly realistic reaching motion of the arm and it is able to do so in real-time.

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Author information

Authors and Affiliations

  1. Dept. of Mechanics & Engineering Science, Fudan University, 200433, Shanghai, China

    Huijie Yu

  2. College of Automation Engineering, Qingdao University, Qingdao, Shandong, 266071, China

    Ray P. S. Han

  3. Dept. of Mechanical & Industrial Engineering, University of Iowa, Iowa City, IA, 52242, USA

    Ray P. S. Han

Authors
  1. Huijie Yu
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  2. Ray P. S. Han
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Editor information

Editors and Affiliations

  1. State Key Lab of CAD and CG, Zhejiang University, Hangzhou, P.R. China

    Zhigeng Pan

  2. Mixed Reality Lab, National University of Singapore, Singapore

    Adrian Cheok

  3. Upper Austria University of Applied Science and Digital Media, Hagenberg, Austria

    Michael Haller

  4. Department of Computer Science, University of Durham, South Road, DH1 3LE, Durham, UK

    Rynson W. H. Lau

  5. Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi Kohoku-ku, 223-8522, Yokohama, Japan

    Hideo Saito

  6. College of Information Engineering, Zhejiang University of Technology, 310032, Hangzhou, P.R. China

    Ronghua Liang

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© 2006 Springer-Verlag Berlin Heidelberg

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Yu, H., Han, R.P.S. (2006). Real Time Dynamics and Control of a Digital Human Arm for Reaching Motion Simulation. In: Pan, Z., Cheok, A., Haller, M., Lau, R.W.H., Saito, H., Liang, R. (eds) Advances in Artificial Reality and Tele-Existence. ICAT 2006. Lecture Notes in Computer Science, vol 4282. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11941354_43

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  • DOI: https://doi.org/10.1007/11941354_43

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-49776-9

  • Online ISBN: 978-3-540-49779-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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