Impedance-based biomechanical method for robust inverse kinematics from noisy data.

Abstract

This paper presents a novel method for solving the inverse kinematic problem of capturing human reaching movements using a dynamic biomechanical model. The model consists of rigid segments connected by joints and actuated by markers. The method was validated against a rotation matrix-based method using motion capture data recorded during reaching movements performed by healthy human volunteers. The results showed that the proposed method achieved low errors in joint angles and compensated for noise in motion capture data. The angles were comparable to those calculated using the standard marker-based method. The proposed bioinspired method can be used in real-time medical applications for processing noisy marker data with occlusions.