HuMoD - A versatile and open database for the investigation, modeling and simulation of human motion dynamics on actuation level

摘要

Collecting high-quality biomechanical measurement data for investigating human motion dynamics with muscle driven actuation, i.e., joint trajectories, ground reaction forces and muscle activities, usually requires experienced examiners, expensive measurement equipment and sophisticated processing. Several published databases offer biomechanical measurement data of various human motions. However, most of these databases are not primarily intended for modeling, simulation and validation of human motion dynamics with muscle driven actuation and do not include ground reaction forces together with muscle activities and detailed anthropometric parameters of the subjects. In this paper, the HuMoD Database, a versatile and quite unique combination of comprehensive biomechanical measurement data and anthropometric parameters with a focus on lower limbs, is introduced. The provided datasets allow to create and validate biomechanical models of the human locomotor system on actuation level and to investigate and simulate human motion dynamics including muscle driven actuation. Besides investigations in biomechanics, the database can be of value especially for the design and development of musculoskeletal humanoid robots and for better understanding and benchmarking human-like robot locomotion. The database contains raw and processed biomechanical measurement data from a three-dimensional motion capture system, an instrumented treadmill and an electromyographical measurement system for eight different motion tasks performed by a healthy female and male subject as well as anthropometric parameters for both subjects. The biomechanical measurement data, anthropometric parameters and source code of the applied computational scripts are open and can be obtained free of charge from the HuMoD Database website.