A sensitivity analysis method for the body segment inertial parameters based on ground reaction and joint moment regressor matrices

Sumire Futamure (1) , Vincent V. Bonnet (2) , Raphaël Dumas (3) , Gentiane Venture (1)

1 Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology
2 SIRIUS
3 LBMC UMR T9406 - Laboratoire de Biomécanique et Mécanique des Chocs

This paper presents a method allowing a simple and efficient sensitivity analysis of dynamics parameters of complex whole-body human model. The proposed method is based on the ground reaction and joint moment regressor matrices, developed initially in robotics system identification theory, and involved in the equations of motion of the human body. The regressor matrices are linear relatively to the segment inertial parameters allowing us to use simple sensitivity analysis methods. The sensitivity analysis method was applied over gait dynamics and kinematics data of nine subjects and with a 15 segments 3D model of the locomotor apparatus. According to the proposed sensitivity indices, 76 segments inertial parameters out the 150 of the mechanical model were considered as not influent for gait. The main findings were that the segment masses were influent and that, at the exception of the trunk, moment of inertia were not influent for the computation of the ground reaction forces and moments and the joint moments. The same method also shows numerically that at least 90% of the lower-limb joint moments during the stance phase can be estimated only from a force-plate and kinematics data without knowing any of the segment inertial parameters.

Domaines: Automatique / Robotique

Sumire Futamure, Vincent V. Bonnet, Raphaël Dumas, Gentiane Venture. A sensitivity analysis method for the body segment inertial parameters based on ground reaction and joint moment regressor matrices. Journal of Biomechanics, 2017, 64, pp.85-92. ⟨10.1016/j.jbiomech.2017.09.005⟩. ⟨hal-01616928⟩