本研究的主要目標為使用人體全身逆向動力學方法，由人體運動追蹤所擷取的資料中，求得受試者全身關節的受力以及力矩。本論文使用實驗室所開發的雙模式三維光學量測系統，靜態掃描可以取得受試者的三維輪廓資訊，而動態追蹤方面，藉由追蹤受試者身上所配戴的標誌框，來達到動態追蹤的目的。所得到的三維輪廓資訊，經由結構化分割為人體的連桿後，即可由連桿的三角網格資訊以及結構點資訊來求得各個連桿的幾何參數。運動學的參數則可以使用運動追蹤的資料，經由數值分析的方法來得到。結合幾何參數以及運動學的參數，我們可以分析力量平衡圖來求解出具有關節軸的人體模型的各個關節受力以及力矩。最後由量測系統實際追蹤受試者所表演的運動，來進行逆向動力學的計算，並且將計算的結果與文獻做比較。

The purpose of this thesis is to calculate the joint forces and joint moments of the subject from motion capture data, by using the full body inverse dynamics method. A dual mode 3D measurement system developed by our lab can acquire the 3D profile information of the subject by scanning. It also can record the subject’s motion by using the markers affixed on the subject’s body. The 3D profile information of the subject can be constructed into a body geometric model, and the geometric parameters can be calculated from the triangular mesh and structure points of each link of the body geometric model. The kinematic parameters can be calculated from the motion capture data through the use of the numerical analysis. Combining the geometric parameters and kinematic parameters, free body diagrams are used to calculate the joint forces and joint moments of the body kinematic model. Finally, the full body inverse dynamics is applied to the captured motions performed by the subject. The calculation results are compared to those from the literatures.

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