Human Motion Analysis via

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Human Motion Analysis via Whole-Body Marker
Tracking Control
Emel Demircan PhD Adviser Professor Oussama
Khatib Artificial Intelligence Laboratory,
Stanford University
Methodology Apply the methods in robotics and
biocomputation to the problems in orthopedics
and sports medicine

• Resulting Framework
• Real-time motion dynamics
• Subject-specific
• Flexible
• Multi-modal feedback

• 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..

Whole-Body Control Hierarchy
Constraints Marker Tasks Posture Additional
Behaviors
Motion Capture
Musculoskeletal Modeling
Motion Characterization
Feasible Set of Operational Space Accelerations
Effort Expenditure in terms of Musculoskeletal
Parameters
Real-time Reconstruction

• Generic Model
• 83 joints
• 193 dofs
• 154 muscles
• Subject-specific scaling

Largest Acceleration Lines
Smallest Effort Lines