Utilization of Minimum Set of Inertial Parameters Identification Method Using Free Vibration Measurement to Improve the Accuracy of Ground Reaction Force Estimation

EasyChair Preprint no. 13555

Abstract

Inertial properties (mass, center of gravity, inertia tensor) are crucial parameters in motion control and simulation of multi-body systems, significantly influencing the accuracy of results. The minimal set of inertial parameters, obtained by combining geometric parameters and inertial properties of counterpart elements, is necessary to represent the multi-body dynamics model without redundancy. A new method for identifying the minimal set of inertial parameters of a multi-body system by expanding and applying the identification method based on free vibration measurements has developed. This method enables high-accuracy identification of the minimal set of inertial parameters in three dimensions, and its validity has been assessed by identifying actual body segments and comparing the results with those obtained from regression equations. The study aims to investigate how the ground reaction force estimation results change when using the identified minimal set of inertial parameters. Accurate estimation of ground reaction forces and moments is crucial for biomechanical analysis and inferring information about various musculoskeletal diseases.

Keyphrases: ground reaction force, identification, Inertial properties, Minimal set of inertial parameters, motion simulation, Multibody dynamics

@Booklet{EasyChair:13555,
  author = {Takahiro Homma and Hiroshi Yamaura},
  title = {Utilization of Minimum Set of Inertial Parameters Identification Method Using Free Vibration Measurement to Improve the Accuracy of Ground Reaction Force Estimation},
  howpublished = {EasyChair Preprint no. 13555},

  year = {EasyChair, 2024}}