Body dynamics calculation method, body dynamics model and model data thereof, and bodymodel generation method
Foreign code  F110005714 

File No.  Y0312US2 
Posted date  Sep 12, 2011 
Country  United States of America 
Application number  34846109 
Gazette No.  20090132217 
Gazette No.  8145440 
Date of filing  Jan 5, 2009 
Gazette Date  May 21, 2009 
Gazette Date  Mar 27, 2012 
International application number  JP2003006344 
International publication number  WO2003099119 
Date of international filing  May 21, 2003 
Date of international publication  Dec 4, 2003 
Priority data 

Title  Body dynamics calculation method, body dynamics model and model data thereof, and bodymodel generation method 
Abstract 
(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 predefined 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. 
Scope of claims 
[claim1] 1. A bodymodel 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 standardbodymodel file stored in the storage device, standardbodymodel data which defines the standard body model by standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and standardmodel 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 viapoints of the wires; a step of inputting by the processing device from a newbodymodel file stored in the storage device, newskeletalmodel 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 standardskeletalmodel 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 standardskeletalmodel data on or from each rigid link according to the input newskeletalmodel data, by the processing device; a step of associating the obtained feature points of the standardskeletalmodel data with the obtained feature points of the newskeletalmodel data and storing them in a featurepoint 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 conversionparameter 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 viapoints of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversionparameter 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 viapoints of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the newbodymodel file, by the processing device. [claim2] 2. A bodymodel 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 newbodymodel file stored in the storage device as newskeletalmodel data, by the processing device. [claim3] 3. A bodymodel 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 rotationconversion 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 rotationalconversion matrix Rs indicating the direction of the scale conversion. [claim4] 4. A bodymodel 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 viapoint, 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 bodymodel generation method according to claim 1, wherein the skeletalmodel 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 viapoints 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 bodymodel 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 viapoint; and the virtual links are defined by shape data and dynamics data. [claim7] 7. A bodymodel 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 standardbodymodel file stored in the storage device, standardbodymodel data which defines the standard body model by standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and standardmodel data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and viapoints or for the origins and end points of the wires; a step of inputting by the processing device from a newbodymodel file stored in the storage device, newskeletalmodel 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 standardskeletalmodel 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 standardskeletalmodel data on or from each rigid link according to the input newskeletalmodel data, by the processing device; a step of associating the obtained feature points of the standardskeletalmodel data with the obtained feature points of the newskeletalmodel data and storing them in a featurepoint 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 conversionparameter 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 viapoints, 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 conversionparameter file to obtain data of the new model of muscles, tendons, and ligamenta for the absolute positions of the origins, end points, and viapoints, 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 newbodymodel file, by the processing device. [claim8] 8. A bodymodel 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 newbodymodel file stored in the storage device as newskeletalmodel data, by the processing device. [claim9] 9. A bodymodel 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 rotationconversion 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 rotationalconversion matrix Rs indicating the direction of the scale conversion. [claim10] 10. A bodymodel 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 viapoint, 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 bodymodel generation method according to claim 7, wherein the skeletalmodel 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 viapoints 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 computerreadable recording medium having stored a bodymodel 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 standardbodymodel file stored in the storage device, standardbodymodel data which defines the standard body model by standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and standardmodel 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 viapoints of the wires; a step of inputting by the processing device from a newbodymodel file stored in the storage device, newskeletalmodel 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 standardskeletalmodel 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 standardskeletalmodel data on or from each rigid link according to the input newskeletalmodel data, by the processing device; a step of associating the obtained feature points of the standardskeletalmodel data with the obtained feature points of the newskeletalmodel data and storing them in a featurepoint 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 conversionparameter 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 viapoints of the wires in the standard skeletal model onto the new skeletal model according to the conversion parameters read from the conversionparameter 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 viapoints of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model, and of storing the data into the newbodymodel file, by the processing device. [claim13] 13. A computerreadable recording medium having stored a bodymodel 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 standardbodymodel file stored in the storage device, standardbodymodel data which defines the standard body model by standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and standardmodel data for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and viapoints or for the origins and end points of the wires; a step of inputting by the processing device from a newbodymodel file stored in the storage device, newskeletalmodel 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 standardskeletalmodel 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 standardskeletalmodel data on or from each rigid link according to the input newskeletalmodel data, by the processing device; a step of associating the obtained feature points of the standardskeletalmodel data with the obtained feature points of the newskeletalmodel data and storing them in a featurepoint 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 conversionparameter 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 viapoints, 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 conversionparameter file to obtain data of the new model of muscles, tendons, and ligamenta for the absolute positions of the origins, end points, and viapoints, 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 newbodymodel file, by the processing device. [claim14] 14. A computerreadable recording medium having stored thereon a standardbodymodel 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 standardbodymodel data having a standardskeletalmodel data structure for rigid links expressing the geometric shape of a skeleton, and a standardmodel 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 viapoints 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 standardskeletalmodel data and corresponding feature points of the newskeletalmodel 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 viapoints 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 viapoints of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model. [claim15] 15. A computerreadable recording medium having stored thereon a standardbodymodel 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 standardbodymodel data having a standardskeletalmodel data structure for rigid links expressing the geometric shape of a skeleton, and a standardmodel data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and viapoints, 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 standardskeletalmodel data and corresponding feature points of the newskeletalmodel 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 viapoints, or the origins and endpoints 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 viapoints, or the origins and end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model. [claim16] 16. A computerreadable recording medium having stored thereon a newbodymodel 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 newbodymodel data having a standardskeletalmodel data structure for rigid links expressing the geometric shape of a skeleton, and a newmodel 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 viapoints of the wires, and defining a new body model, the standardbodymodel data defining the standard body model by a standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and a standardmodel 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 viapoints 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 standardskeletalmodel data and corresponding feature points of the newskeletalmodel 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 viapoints 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 viapoints of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model to generate the newbodymodel data. [claim17] 17. A computerreadable recording medium having stored thereon a newbodymodel 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 newbodymodel data having a standardskeletalmodel data structure for rigid links expressing the geometric shape of a skeleton, and a newmodel data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and viapoints, or for the origins and end points of the wires, and defining a new body model, the standardbodymodel data defining the standard body model by a standardskeletalmodel data for rigid links expressing the geometric shape of a skeleton, and a standardmodel data structure for muscles, tendons, and ligamenta, when the muscles, tendons, and ligamenta are expressed by wires, for the origins, end points, and viapoints, 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 standardskeletalmodel data and corresponding feature points of the newskeletalmodel 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 viapoints, 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 viapoints, or the origins and end points of muscles, tendons, and ligamenta in the coordinate system of the new skeletal model to generate the newbodymodel data. 


IPC(International Patent Classification)  
U.S. Cl./(Sub) 

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Contact Information for " Body dynamics calculation method, body dynamics model and model data thereof, and bodymodel generation method "
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