1. Progress Report Yoonsang Lee, Movement Research Lab., Seoul National University

2. Previous Result

3. New Result

5. Joint Constraint Ligament –“passive muscle” –Meaningful with contact based joint modeling CoordinateLimitForce –Penalty method –Parameter : stiffness, damping, transition Parameters for each person?

6. Joint Range Joint range for each person?

7. gait2356 model Based on gait2354 model 23 dof, 56 muscles Add eversion muscle : Peroneus longus Add contact geometry, joint limit force Enough muscles?

8. Upper Body We don’t have motion data of upper body now. Just lower body model? Additional markers for upper body?

9. bvh → mot

10. Computation Time Integrator time step size : 0.001s

11. Walking Controller Yoonsang Lee, Sungeun Kim, Jehee Lee, Data- Driven Biped Control, ACM Transactions on Graphics (SIGGRAPH 2010), Vol. 29, No. 4, Article 129, July 2010

12. Result (0.5x)

14. Dicussion Model customizing –Bone : shape, COM, mass, inertia –Joint : position, axis, range, constraint force parameter –Muscle : origin & insertion point, parameters

15. Next.. Improve tracking algorithm –dynamic states → joint torques → muscle forces → muscle activations –(current : muscle states → muscle forces → muscle activations) Normal gait tracking of normal model Build basic pathologic model Normal gait tracking of pathologic model Pathologic gait tracking of pathologic model

16. Thank you