Database Reference
In-Depth Information
Figure 4: Motion databases built with 3-bit motion bytes
I
Forearm 000
100
100
101
100
100
101
100 100
101
100 100
101
000
Start 45
o
90
o
135
o
180
o
End
II
Forearm 000
100
101
100
101
100
100
101
100
100
100 100
101
000
Start 45
o
90
o
135
o
180
o
End
III
Forearm 000
100
100
101
100
100
101
100 100
101
100 100
101
000
Arm 000
100
100
100 100
100
101
100 100
100
100 100
101
000
IV
Forearm 000
100
100
101
100
100
101
100 100
101
100 100
101
000
Arm 000
100
100
101
100
100
101
000
000 000 000
000 000 000
•
Unit scale of 45 degrees.
•
Sampling frequency of 12 samples per second.
The bold, underlined and italic notations, as well as the text, are used to emphasize
the 3-bit motion bytes representing motion time units.
•
Example
I
:
a 180 degree movement of the forearm (over the shoulder). The move-
ment takes one second and it is performed at constant velocity.
•
Example
II
:
The same movement, but this time the velocity changes with accelera-
tion.
•
Example
III
:
In addition to the constant velocity of the movement of the forearm,
as shown in example
I,
here not only is the forearm moving (over the shoulder), but
also the arm moves (over the forearm — at the elbow). The movement of the forearm
and the movement of the arm start and end at the same time, i.e., the arm performs a
movement of 90 degrees at half the speed of the forearm.
•
Example
IV
:
IV
The forearm and the arm start to move at the same time, and with equal
velocity. Since the arm performs a movement of 90 degrees, while the forearm performs
a movement of 180 degrees, the arm motion ends before that of the forearm.
IV
:
Constants
In addition to the database, we assume the header of every motion “text” to have
global parameters that remain constant during the execution of the motion data. Among the
constants are the following:
1.
Anatomy:
the hierarchy and order of limbs, their attributes, measurements, structure
and weight, mechanical features, and constraints of movement on joints at the base
of each limb.
