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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.13192 |
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| _version_ | 1866909039741370368 |
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| author | Kim, Sunghee Shimane, Yuta Ishigaki, Taiki Yamamoto, Ko |
| author_facet | Kim, Sunghee Shimane, Yuta Ishigaki, Taiki Yamamoto, Ko |
| contents | This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_13192 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis Kim, Sunghee Shimane, Yuta Ishigaki, Taiki Yamamoto, Ko Robotics This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation. |
| title | Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.13192 |