Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim

C Pizzolato; M Reggiani; L Modenese; D G Lloyd

doi:10.1080/10255842.2016.1240789

Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim

Comput Methods Biomech Biomed Engin. 2017 Mar;20(4):436-445. doi: 10.1080/10255842.2016.1240789. Epub 2016 Oct 10.

Authors

C Pizzolato¹, M Reggiani², L Modenese^{1

3

4}, D G Lloyd¹

Affiliations

¹ a School of Allied Health Sciences and Menzies Health Institute Queensland , Griffith University , Gold Coast , Australia.
² b Department of Management and Engineering , University of Padua , Vicenza , Italy.
³ c Department of Mechanical Engineering , University of Sheffield , Sheffield , UK.
⁴ d INSIGNEO Institute for in silico Medicine , University of Sheffield , Sheffield , UK.

Abstract

Real-time estimation of joint angles and moments can be used for rapid evaluation in clinical, sport, and rehabilitation contexts. However, real-time calculation of kinematics and kinetics is currently based on approximate solutions or generic anatomical models. We present a real-time system based on OpenSim solving inverse kinematics and dynamics without simplifications at 2000 frame per seconds with less than 31.5 ms of delay. We describe the software architecture, sensitivity analyses to minimise delays and errors, and compare offline and real-time results. This system has the potential to strongly impact current rehabilitation practices enabling the use of personalised musculoskeletal models in real-time.

Keywords: Gait analysis; OpenSim; biomechanics; inverse dynamics; kinematics; real-time.

MeSH terms

Adult
Biomechanical Phenomena
Computer Systems*
Humans
Joints / physiology
Lower Extremity / physiology*
Male
Models, Biological
Movement
Software*
Time Factors

Grants and funding

R01 EB009351/EB/NIBIB NIH HHS/United States