Human Motion Analysis via Whole-Body Marker Tracking Control

Emel DemircanPhD Adviser: Professor Oussama Khatib

Artificial Intelligence Laboratory, Stanford University

Why study human movement?• It is amazing!

• Study and optimize athletic performance

and sports equipment• Basis for successful surgical design

• Help manage CNS disorders

• Can serve as biofeedback for rehabilitation

• Help manage musculoskeletal disease (arthritis, osteoporosis) and injuries..

MethodologyApply the methods in robotics and

biocomputation to the problems in

orthopedics and sports medicine

Feasible Set of

Operational Space AccelerationsEffort Expenditure in terms of

Musculoskeletal Parameters

Musculoskeletal Modeling

Motion Characterization

Resulting Framework• Real-time motion dynamics

• Subject-specific• Flexible• Multi-modal feedback

• Generic Model:

83 joints

193 dofs

154 muscles

• Subject-specific scaling

Whole-Body Control Hierarchy

Constraints

Marker Tasks

Posture

Additional

Behaviors

Motion

Capture

Real-time

Reconstruction

Largest

Acceleration

Lines

Smallest

Effort

Lines