@INPROCEEDINGS{Ven06_IFToMM,
  AUTHOR =       "Venture,G. and Nakamura,Y. and Yamane,K.",
  TITLE =        {Passive Stiffness Estimation of Human Joints and its Medical Applications Based on Musculoskeletal Dynamics Model and Motion-Capturing},
  BOOKTITLE =    {12th Jc-IFToMM Symposium(Japanese Council)},
  YEAR =         {2006},
  pages=         {91-96},
  address =      {Tokyo, Japan},
  month =        {June},
  abstract =     {Human joints dynamics is very important in the fields of humanoid robotics, medical robotics as well as medical research. For example medical diagnosis of muscle or neuro-motor diseases are based on a visual qualitative estimation of joint passive stiffness and there is a pressing need in human body subject specific dynamics characterization. This paper presents a global solution to estimate in-vivo the passive dynamics of the human limbs joint. It is based on the use of the musculo-skeletal description of the human body and its kinematics and dynamics computations. The linear passive joint dynamics: stiffness, viscosity and friction, is then estimated with linear least squares method. Acquisitions of movements during medical diagnosis check-up are achieved in a motion capture studio and are guaranteed to be painless. Experimental results are given.},
  keywords =     {human dynamics, inverse dynamics, musculoskeletal human model, motion capture},
}