Concluding Remarks - Human Motion Simulation: Predictive Dynamics - page 233

CHAPTER
10

Concluding Remarks

I think and think for months and years. Ninety-nine times, the conclusion
is false. The hundredth time I am right.
Albert Einstein

This topic has introduced a new method for predicting and analyzing human
motion. While it is not perfect, it is a broadly applicable formulation for many
tasks that humans perform. Predictive dynamics (PD) has been shown to be a gen-
eral systematic method for predicting human motion. In this chapter, we summa-
rize the most important aspects of this method, its applications, and future

research endeavors.

10.1 Benefits of predictive dynamics
We enumerate below some of the benefits of the PD method.

10.1.1 Using the Denavit Hartenberg (DH) method is effective in
modeling human kinematics
The DH parameterization method is an effective and powerful approach to model-
ing human segments, embedding the coordinate systems, and creating the four
generalized coordinates that relate one frame to another. Indeed, the DH method
provides for a systemic approach to modeling the kinematics.
Because the DH representation method is so consistent, it is a straightforward
process to represent the underlying kinematic skeleton and use it as a reference to
attach rigid objects to. Since each body is defined with respect to a coordinate sys-
tem, it was also possible to define additional rigid bodies, such as clothing items,
loads, helmets, and any other object that affects human motion, to that frame.
Additionally, because the DH parameters are consistent and flexible in their
ability to be programmed into a code, changes in body stature and size (anthro-
pometry) and changes in joint limits can be readily implemented. As a result, PD
can analyze an individual of a specific weight, height, body type, and strength