Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis

• URL: http://arxiv.org/abs/2605.13192v1
• Date: Wed, 13 May 2026 08:49:44 GMT
• Title: Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis
• Abstract summary: We build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation.<n>We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data.
• Score: 2.858227487978669
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.

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