132181 20260217205454.0 doi 10.1007/s11044-023-09938-0 sideral 137502 ART-2024-137502 eng Lugrís, Urbano Human motion capture, reconstruction, and musculoskeletal analysis in real time 2024 Access copy available to the general public Unrestricted Optical motion capture is an essential tool for the study and analysis of human movement. Currently, most manufacturers of motion-capture systems provide software applications for reconstructing the movement in real time, thus allowing for on-the-fly visualization. The captured kinematics can be later used as input data for a further musculoskeletal analysis. However, in advanced biofeedback applications, the results of said analysis, such as joint torques, ground-reaction forces, muscle efforts, and joint-reaction forces, are also required in real time.In this work, an extended Kalman filter (EKF) previously developed by the authors for real-time, whole-body motion capture and reconstruction is augmented with inverse dynamics and muscle-efforts optimization, enabling the calculation and visualization of the latter, along with joint-reaction forces, while capturing the motion.A modified version of the existing motion-capture algorithm provides the positions, velocities, and accelerations at every time step. Then, the joint torques are calculated by solving the inverse-dynamics problem, using force-plate measurements along with previously estimated body-segment parameters. Once the joint torques are obtained, an optimization problem is solved, in order to obtain the muscle forces that provide said torques while minimizing an objective function. This is achieved by a very efficient quadratic programming algorithm, thoroughly tuned for this specific problem.With this procedure, it is possible to capture and label the optical markers, reconstruct the motion of the model, solve the inverse dynamics, and estimate the individual muscle forces, all while providing real-time visualization of the results. info:eu-repo/grantAgreement/ES/MICINN/PGC2018-095145-B-I00 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es 2.4 2024 MECHANICS 79 / 171 = 0.462 2024 Q2 T2 0.868 2024 Aerospace Engineering 2024 Q1 Control and Optimization 2024 Q1 Modeling and Simulation 2024 Q1 Mechanical Engineering 2024 Q1 Computer Science Applications 2024 Q2 5.4 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Pérez-Soto, Manuel Universidad de Zaragoza Michaud, Florian Cuadrado, Javier 5002 720 Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Área Proyectos de Ingeniería 60, 1 (2024), 3-25 Multibody syst. dyn. MULTIBODY SYSTEM DYNAMICS 1384-5640 2201070 http://zaguan.unizar.es/record/132181/files/texto_completo.pdf Versión publicada 1380265 http://zaguan.unizar.es/record/132181/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:132181 articulos driver 2026-02-17-20:19:58 ARTICLE