Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications

<div>Selected trajectory visualization. (a) Selected <svg height="11.9316pt" id="M208" style="vertical-align:-3.2957pt" version="1.1" viewbox="-0.0498162 -8.6359 22.4895 11.9316" width="22.4895pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z" id="g113-71"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="607" vert-adv-y="607"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M308 0V33C225 38 217 44 217 128V521C217 605 225 612 308 617V650H39V617C122 612 130 605 130 521V128C130 44 122 38 39 33V0H308Z" id="g58-71"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="348" vert-adv-y="348"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.871,3.132)"><path d="M618 181C565 77 513 26 413 26C264 26 151 150 151 336C151 486 240 625 407 625C516 625 573 582 600 475L634 483C627 540 622 581 613 638C585 643 518 665 435 665C211 665 46 526 46 315C46 158 157 -15 406 -15C480 -15 564 4 594 12C612 43 638 121 651 168L618 181Z" id="g58-65"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="673" vert-adv-y="673"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,15.995,3.132)"><path d="M639 21C616 28 593 39 566 68C542 92 523 117 486 170C457 215 415 282 397 314C472 346 524 398 524 485C524 545 497 590 456 617C417 641 369 650 296 650H43V617C122 612 130 608 130 523V129C130 45 122 38 38 33V0H306V33C225 38 216 45 216 129V282H249C302 282 319 270 336 243C365 195 401 132 436 84C483 18 525 -5 597 -8C610 -9 622 -9 635 -9L639 21ZM216 319V559C216 586 219 596 227 603S250 613 281 613C356 613 429 576 429 469C429 416 413 379 374 348C349 327 316 319 265 319H216Z" id="g58-80"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="632" vert-adv-y="632"></glyph.data></g></svg> data segment example. (b) Selected trajectory visualization over <svg height="8.68572pt" id="M209" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 10.0819 8.68572" width="10.0819pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z" id="g113-89"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="765" vert-adv-y="765"></glyph.data></g></svg>-<svg height="8.68572pt" id="M210" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 8.6074 8.68572" width="8.6074pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M640 650H413L406 622L438 617C475 611 483 605 463 571C422 503 346 400 296 333C264 403 215 529 199 575C189 604 191 614 228 618L262 622L271 650H30L23 622C90 615 97 609 119 553L212 321C222 295 223 285 218 259L193 127C176 39 167 33 82 28L76 0H350L356 28C266 36 257 40 275 127L303 266C308 290 314 302 328 322C396 418 454 493 498 546C551 610 565 616 631 622L640 650Z" id="g113-90"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="652" vert-adv-y="652"></glyph.data></g></svg> plane.</div>

Mathematical Problems in Engineering

fig14

Figure 14

Figure 14: Inverse Modeling of Human Knee Joint Based on Geometry and Vision Systems for Exoskeleton Applications 