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Inertia Parameters of Human Body Identification by Using the Inequality Constraints Derived from the Dynamic Equations

In the biomechanical and clinical researches and applications, i.e., personal rehabilitation research and application, the biomechanical modeling of specific subject is the significant requirement. In this paper, a method for identification of specific subject segments inertia parameters is proposed, where the motions capture system and force plate system are adopted as the input of motions and force/moment. The identification method is built based on the the multibody robotics. As the improvement, this paper introduced the inequality constraints of joint torques into the identification process. This method can use more information and constraints of the whole body system. In this paper, the method is validated by comparing the GRFs generated by the identified inertia parameters and by the real detect. The experimental results show that the identified GRFs curves can math the real GRFs curves well.