2013 | OriginalPaper | Buchkapitel
Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values
verfasst von : Gentiane Venture, Maxime Gautier
Erschienen in: Romansy 19 – Robot Design, Dynamics and Control
Verlag: Springer Vienna
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Using the
essential parameters
of the human body, we propose to calculate the LS solution with SVD factorization, which is the closest in 2 norm of a set of a priori anatomic values given by literature database. This solution keeps both the same minimum norm error given by the
essential
parameters and the physical anatomical meaning of the a priori values when the measuring noise and errors are small. Experimental results are presented.