{"id":"https://openalex.org/W7161171203","doi":"https://doi.org/10.48550/arxiv.2605.13192","title":"Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis","display_name":"Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis","publication_year":2026,"publication_date":"2026-05-13","ids":{"openalex":"https://openalex.org/W7161171203","doi":"https://doi.org/10.48550/arxiv.2605.13192"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.13192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.13192","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5122848939","display_name":"Sunghee Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Sunghee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005111171","display_name":"Yuta Shimane","orcid":"https://orcid.org/0009-0009-1609-9811"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shimane, Yuta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003940459","display_name":"Taiki Ishigaki","orcid":"https://orcid.org/0000-0002-9122-8187"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ishigaki, Taiki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136170237","display_name":"Ko Yamamoto","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yamamoto, Ko","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.7886999845504761,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.7886999845504761,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.06120000034570694,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.038100000470876694,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.8054999709129333},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6626999974250793},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.5928999781608582},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5759000182151794},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5292999744415283},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5065000057220459},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.49410000443458557},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4927000105381012},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4507000148296356},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.41850000619888306}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.8054999709129333},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6626999974250793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6089000105857849},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.5928999781608582},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5759000182151794},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5292999744415283},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5065000057220459},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.49410000443458557},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4927000105381012},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4507000148296356},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43650001287460327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4284000098705292},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.41850000619888306},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3808000087738037},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.35409998893737793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34310001134872437},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3246999979019165},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C3020781530","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthetic hand","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3075000047683716},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.2913999855518341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2824000120162964},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.28220000863075256},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.2718000113964081},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C172525866","wikidata":"https://www.wikidata.org/wiki/Q3661266","display_name":"Sports biomechanics","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.13192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.13192","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.13192","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,25,43,59,77,86,95,110,131],"motion":[4,22,107,111],"analysis":[5,23],"framework":[6,57],"for":[7,76],"an":[8],"athlete":[9],"wearing":[10],"sport-specific":[11],"flexible":[12,44,78],"prosthesis":[13,166],"based":[14,53],"on":[15,54,145],"the":[16,33,37,55,103,117,120,138,146,154,165],"soft-rigid":[17],"hybrid-link":[18,87,104],"system.":[19,62],"Such":[20],"is":[24],"challenging":[26],"problem":[27],"because":[28],"we":[29,135,152],"need":[30],"to":[31,84,106],"consider":[32],"interaction":[34,162],"force":[35,126,149,156,163],"between":[36],"rigid":[38],"human":[39,49,132],"skeleton":[40],"system":[41,88,105],"and":[42,70,92,114,123,161],"prosthesis.":[45],"However,":[46],"most":[47],"of":[48,58,102,119],"musculoskeletal":[50],"models":[51],"are":[52],"computation":[56],"rigid-body":[60],"multi-link":[61],"Recently":[63],"in":[64,94],"soft":[65],"robotics":[66],"research":[67],"field,":[68],"fast":[69],"efficient":[71],"modeling":[72],"methods":[73],"were":[74],"developed":[75],"rod":[79],"deformation,":[80],"which":[81],"allows":[82],"us":[83],"build":[85],"that":[89,137],"integrates":[90],"rigid-link":[91],"soft-bodies":[93],"unified":[96],"formulation.":[97],"We":[98],"apply":[99],"inverse":[100,128,139],"kinematics":[101],"reconstruction":[108],"from":[109],"captured":[112],"data,":[113],"also":[115],"present":[116],"estimation":[118,157],"joint":[121],"torques":[122],"ground":[124,147],"reaction":[125,148],"by":[127],"dynamics.":[129],"Through":[130],"subject":[133],"experiment,":[134],"show":[136],"dynamics":[140],"achieved":[141],"approximately":[142],"12%":[143],"error":[144],"estimation.":[150],"Furthermore,":[151],"provide":[153],"muscle":[155,159],"considering":[158],"amputation":[160],"with":[164],"leg":[167],"deformation.":[168]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-15T00:00:00"}
