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Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method

外国特許コード F110005714
整理番号 Y0312US2
掲載日 2011年9月12日
出願国 アメリカ合衆国
出願番号 34846109
公報番号 20090132217
公報番号 8145440
出願日 平成21年1月5日(2009.1.5)
公報発行日 平成21年5月21日(2009.5.21)
公報発行日 平成24年3月27日(2012.3.27)
国際出願番号 JP2003006344
国際公開番号 WO2003099119
国際出願日 平成15年5月21日(2003.5.21)
国際公開日 平成15年12月4日(2003.12.4)
優先権データ
  • 特願2002-154853 (2002.5.29) JP
  • 特願2002-165234 (2002.6.6) JP
  • 2003WO-JP06344 (2003.5.21) WO
  • 2005US-10515019 (2005.8.30) US
発明の名称 (英語) Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method
発明の概要(英語) (US8145440)
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.
特許請求の範囲(英語) [claim1]
1. A body-model generation method for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, said method implemented by a system including a processing device, a storage device and an input device, said method comprising: a step of inputting by the processing device from a standard-body-model file stored in the storage device, standard-body-model data which defines the standard body model by standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and standard-model data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires and virtual links connected between the wires, for the virtual links and the origins, end points, and via-points of the wires;
a step of inputting by the processing device from a new-body-model file stored in the storage device, new-skeletal-model data which defines the new skeletal model measured or given in advance of the new body model, by data for the rigid links expressing the geometric shape of the skeleton;
a step of making the input device arrange or automatically extracting a plurality of feature points on or from each rigid link according to the input standard-skeletal-model data, by the processing device;
a step of making the input device arrange or automatically extracting a feature point corresponding to each feature point of the standard-skeletal-model data on or from each rigid link according to the input new-skeletal-model data, by the processing device;
a step of associating the obtained feature points of the standard-skeletal-model data with the obtained feature points of the new-skeletal-model data and storing them in a feature-point file, by the processing device;
a step of applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between the corresponding feature points to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and of storing the conversion parameters into a conversion-parameter file, by the processing device;
a step of specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model, by the processing device; and
a step of mapping the data of the standard model of muscles, tendons, and ligamenta for the virtual links and the positions of the origins, the end points, and via-points of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversion-parameter file to obtain data of the new model of muscles, tendons, and ligamenta for virtual links and the absolute positions of the origins, end points, and via-points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the new-body-model file, by the processing device.
[claim2]
2. A body-model generation method according to claim 1, further comprising a step of measuring data for the rigid links which express the geometric shape of the skeleton of the new skeletal model, and of storing the data into the new-body-model file stored in the storage device as new-skeletal-model data, by the processing device.
[claim3]
3. A body-model generation method according to claim 1, wherein the conversion parameters are defined by vectors (nPsTeTsTesT) which comprises a position vector, nPs=(nPsxnPsynPsz)T, from the origin of the coordinate system SIGMA n of the new skeleton model to the origin of the coordinate system SIGMA s of the standard skeleton model, an Euler parameter, e=(e0e1e2e3)T, which expresses the rotation-conversion matrix nRs from SIGMA n to SIGMA s, a scale parameter, s=(sxsysz)T, which expresses the size of the scale conversion between the coordinate systems SIGMA n and SIGMA s, and an Euler parameter, es=(es0es1es2es3)T, which expresses the rotational-conversion matrix Rs indicating the direction of the scale conversion.
[claim4]
4. A body-model generation method according to claim 1, wherein the data for the wires and/or the virtual links is data of any one of the following models,
model in which one part is replaced with one simple wire formed of only an origin and an end point,
model in which one part is replaced with one wire formed of an origin, a via-point, and an end point,
model in which one part is replaced with a plurality of wires,
model in which one part is replaced with a virtual link and a plurality of wires, and
compound model.
[claim5]
5. A body-model generation method according to claim 1, wherein the skeletal-model data defines rigid links a plurality of which is coupled by joints which express joints having a plurality of degrees of freedom to form a skeleton;
the data of the model for muscles, tendons, and ligaments express wires which connect origins and end points secured to predetermined locations of bones expressed by the rigid links, pass through no or one or more via-points which allow sliding and are secured to bones, and are formed such that the lengths and tension of the wires can be changed according to the movement of the rigid links, and virtual links which are formed such that the origins and end points of a plurality of the wires are secured; and
the standard body model and the new body model are generated such that forces applied to the wires and the virtual links, the lengths of the wires, and the motion of the rigid links interact with each other.
[claim6]
6. A body-model generation method according to claim 5, wherein the rigid links are defined by shape data and dynamics data;
the wires are defined by position data of edge points and/or a via-point; and
the virtual links are defined by shape data and dynamics data.
[claim7]
7. A body-model generation method for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, said method implemented by a system including a processing device, a storage device and an input device, said method comprising: a step of inputting by the processing device from a standard-body-model file stored in the storage device, standard-body-model data which defines the standard body model by standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and standard-model data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and via-points or for the origins and end points of the wires;
a step of inputting by the processing device from a new-body-model file stored in the storage device, new-skeletal-model data which defines the new skeletal model measured or given in advance of the new body model, by data for the rigid links expressing the geometric shape of the skeleton;
a step of making the input device arrange or automatically extracting a plurality of feature points on or from each rigid link according to the input standard-skeletal-model data, by the processing device;
a step of making the input device arrange or automatically extracting a feature point corresponding to each feature point of the standard-skeletal-model data on or from each rigid link according to the input new-skeletal-model data, by the processing device;
a step of associating the obtained feature points of the standard-skeletal-model data with the obtained feature points of the new-skeletal-model data and storing them in a feature-point file, by the processing device;
a step of applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between the corresponding feature points to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and of storing the conversion parameters into a conversion-parameter file, by the processing device;
a step of specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model, by the processing device; and
a step of mapping the data of the standard model of muscles, tendons, and ligamenta for the positions of the origins, end points, and via-points, or the origins and end points of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversion-parameter file to obtain data of the new model of muscles, tendons, and ligamenta for the absolute positions of the origins, end points, and via-points, or the origins and the end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the new-body-model file, by the processing device.
[claim8]
8. A body-model generation method according to claim 7, further comprising a step of measuring data for the rigid links which express the geometric shape of the skeleton of the new skeletal model, and of storing the data into the new-body-model file stored in the storage device as new-skeletal-model data, by the processing device.
[claim9]
9. A body-model generation method according to claim 7, wherein the conversion parameters are defined by vectors (nPsTeTsTesT) which comprises a position vector, nPs=(nPsxnPsynPsz)T, from the origin of the coordinate system SIGMA n of the new skeleton model to the origin of the coordinate system SIGMA s of the standard skeleton model, an Euler parameter, e=(e0e1e2e3)T, which expresses the rotation-conversion matrix nRs from SIGMA n to SIGMA s, a scale parameter, s=(sxsysz)T, which expresses the size of the scale conversion between the coordinate systems SIGMA n and SIGMA s, and an Euler parameter, es=(es0es1es2es3)T, which expresses the rotational-conversion matrix Rs indicating the direction of the scale conversion.
[claim10]
10. A body-model generation method according to claim 7, wherein the data for the wires and/or the virtual links is data of any one of the following models,
model in which one part is replaced with one simple wire formed of only an origin and an end point,
model in which one part is replaced with one wire formed of an origin, a via-point, and an end point,
model in which one part is replaced with a plurality of wires,
model in which one part is replaced with a virtual link and a plurality of wires, and
compound model.
[claim11]
11. A body-model generation method according to claim 7, wherein the skeletal-model data defines rigid links a plurality of which is coupled by joints which express joints having a plurality of degrees of freedom to form a skeleton;
the data of the model for muscles, tendons, and ligaments express wires which connect origins and end points secured to predetermined locations of bones expressed by the rigid links, pass through no or one or more via-points which allow sliding and are secured to bones, and are formed such that the lengths and tension of the wires can be changed according to the movement of the rigid links, and virtual links which are formed such that the origins and end points of a plurality of the wires are secured; and
the standard body model and the new body model are generated such that forces applied to the wires and the virtual links, the lengths of the wires, and the motion of the rigid links interact with each other.
[claim12]
12. A computer-readable recording medium having stored a body-model generation program for making a computer execute each of the forgoing steps, for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, said computer including a processing device, a storage device and an input device, said steps comprising: a step of inputting by the processing device from a standard-body-model file stored in the storage device, standard-body-model data which defines the standard body model by standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and standard-model data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires and virtual links connected between the wires, for the virtual links and the origins, end points, and via-points of the wires;
a step of inputting by the processing device from a new-body-model file stored in the storage device, new-skeletal-model data which defines the new skeletal model measured or given in advance of the new body model, by data for the rigid links expressing the geometric shape of the skeleton;
a step of making the input device arrange or automatically extracting a plurality of feature points on or from each rigid link according to the input standard-skeletal-model data, by the processing device;
a step of making the input device arrange or automatically extracting a feature point corresponding to each feature point of the standard-skeletal-model data on or from each rigid link according to the input new-skeletal-model data, by the processing device;
a step of associating the obtained feature points of the standard-skeletal-model data with the obtained feature points of the new-skeletal-model data and storing them in a feature-point file, by the processing device;
a step of applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between the corresponding feature points to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and of storing the conversion parameters into a conversion-parameter file, by the processing device;
a step of specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model, by the processing device; and
a step of mapping the data of the standard model of muscles, tendons, and ligamenta for the virtual links and the positions of the origins, the end points, and via-points of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversion-parameter file to obtain data of the new model of muscles, tendons, and ligamenta for virtual links and the absolute positions of the origins, end points, and via-points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the new-body-model file, by the processing device.
[claim13]
13. A computer-readable recording medium having stored a body-model generation program for making a computer execute each of the forgoing steps, for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, said computer including a processing device, a storage device and an input device, said steps comprising: a step of inputting by the processing device from a standard-body-model file stored in the storage device, standard-body-model data which defines the standard body model by standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and standard-model data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and via-points or for the origins and end points of the wires;
a step of inputting by the processing device from a new-body-model file stored in the storage device, new-skeletal-model data which defines the new skeletal model measured or given in advance of the new body model, by data for the rigid links expressing the geometric shape of the skeleton;
a step of making the input device arrange or automatically extracting a plurality of feature points on or from each rigid link according to the input standard-skeletal-model data, by the processing device;
a step of making the input device arrange or automatically extracting a feature point corresponding to each feature point of the standard-skeletal-model data on or from each rigid link according to the input new-skeletal-model data, by the processing device;
a step of associating the obtained feature points of the standard-skeletal-model data with the obtained feature points of the new-skeletal-model data and storing them in a feature-point file, by the processing device;
a step of applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between the corresponding feature points to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and of storing the conversion parameters into a conversion-parameter file, by the processing device;
a step of specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model, by the processing device; and
a step of mapping the data of the standard model of muscles, tendons, and ligamenta for the positions of the origins, end points, and via-points, or the origins and end points of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversion-parameter file to obtain data of the new model of muscles, tendons, and ligamenta for the absolute positions of the origins, end points, and via-points, or the origins and the end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the new-body-model file, by the processing device.
[claim14]
14. A computer-readable recording medium having stored thereon a standard-body-model data used for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, the standard-body-model data having a standard-skeletal-model data structure for rigid links expressing the geometric shape of a skeleton, and a standard-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires and virtual links connected between wires, for the virtual links and the origins, end points, and via-points of the wires, and defining the standard body model, and
a processing device (a) applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between feature points of the rigid links of the standard-skeletal-model data and corresponding feature points of the new-skeletal-model data defined by data for the rigid links of the new body model to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and (b) specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model according to the obtained conversion parameters and mapping the data of the standard model of muscles, tendons, and ligamenta for the virtual links and the positions of the origins, end points, and via-points of the wires in the standard skeletal model onto the new skeletal model to obtain data of the new model of muscles, tendons, and ligamenta for virtual links and the origins, end points, and via-points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model.
[claim15]
15. A computer-readable recording medium having stored thereon a standard-body-model data used for generating, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, a new body model by mapping the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses the skeleton of a new body, the standard-body-model data having a standard-skeletal-model data structure for rigid links expressing the geometric shape of a skeleton, and a standard-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and via-points, or for the origins and end points of the wires, and defining the standard body model, and
a processing device (a) applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between feature points of the rigid links of the standard-skeletal-model data and corresponding feature points of the new-skeletal-model data defined by data for the rigid links of the new body model to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and (b) specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model according to the obtained conversion parameters and mapping the data of the standard model of muscles, tendons, and ligamenta for the positions of the origins, end points, and via-points, or the origins and end-points of the wires in the standard skeletal model onto the new skeletal model to obtain data of the new model of muscles, tendons, and ligamenta for the origins, end points, and via-points, or the origins and end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model.
[claim16]
16. A computer-readable recording medium having stored thereon a new-body-model data generated by mapping, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses a new body, the new-body-model data having a standard-skeletal-model data structure for rigid links expressing the geometric shape of a skeleton, and a new-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires and virtual links connected between the wires, for the virtual links and the origins, end points, and via-points of the wires, and defining a new body model,
the standard-body-model data defining the standard body model by a standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and a standard-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires and virtual links connected between the wires, for the virtual links and the origins, end points, and via-points of the wires, and
a processing device (a) applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between feature points of the rigid links of the standard-skeletal-model data and corresponding feature points of the new-skeletal-model data defined by data for the rigid links of the new body model to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and (b) specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model according to the obtained conversion parameters and mapping the data of the standard model of muscles, tendons, and ligamenta for the virtual links and the positions of the origins, end points, and via-points of the wires in the standard skeletal model onto the new skeletal model to obtain data of the new model of muscles, tendons, and ligamenta for virtual links and the origins, end points, and via-points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model to generate the new-body-model data.
[claim17]
17. A computer-readable recording medium having stored thereon a new-body-model data generated by mapping, according to a standard body model which expresses a skeletal model and a model of muscles, tendons, and ligamenta of a standard body which includes a human body, a living body, or an animal body, the model of muscles, tendons, and ligamenta onto a new skeletal model which expresses a new body, the new-body-model data having a standard-skeletal-model data structure for rigid links expressing the geometric shape of a skeleton, and a new-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and via-points, or for the origins and end points of the wires, and defining a new body model,
the standard-body-model data defining the standard body model by a standard-skeletal-model data for rigid links expressing the geometric shape of a skeleton, and a standard-model data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and via-points, or for the origins and end points of the wires, and
a processing device (a) applying optimization calculation to a value corresponding to the sum of or the sum of the squares of the distances between feature points of the rigid links of the standard-skeletal-model data and corresponding feature points of the new-skeletal-model data defined by data for the rigid links of the new body model to obtain the parameters of conversions which include parallel movement, rotational movement, and scaling, and (b) specifying a coordinate system for the input new skeletal model so as to fit the coordinate system of the standard skeletal model according to the obtained conversion parameters and mapping the data of the standard model of muscles, tendons, and ligamenta for the positions of the origins, end points, and via-points, or the origins and end points of the wires in the standard skeletal model onto the new skeletal model to obtain data of the new model of muscles, tendons, and ligamenta for the origins, end points, and via-points, or the origins and end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model to generate the new-body-model data.
  • 発明者/出願人(英語)
  • NAKAMURA YOSHIHIKO
  • YAMANE KATSU
  • SUZUKI ICHIRO
  • KURIHARA KAZUTAKA
  • TATANI KOJI
  • JAPAN SCIENCE AND TECHNOLOGY AGENCY
国際特許分類(IPC)
米国特許分類/主・副
  • A61B005/11J
  • A61B005/45K
  • G09B023/32
  • K61B005/45F
  • K61B005/45H
  • K61B005/45M
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