Kalman Smoothing Algorithm for Inverse Kinematics

This project is a Kalman smoothing algorithm for inverse kinematics. Kalman smoothing improves the estimation of joint kinematics and kinetics in marker-based human gait analysis. Kalman smoothing is an alternative for the global optimization algorithm implemented in the Inverse Kinematics Tool distributed with the OpenSim installation and requires the same input and setup files. Optionally, additional parameters describing the measurement noise and the smoothness of the motion can be specified in the setup file. The algorithm is described in detail in De Groote et al. (2008).The implementation of the algorithm is on GitHub (https://github.com/antoinefalisse/opensim-core/tree/kalman_smoother) and the latest release is based on a fork from opensim-core created in between the OpenSim 4.1 and 4.2 releases. We will try to update the algorithm with upcoming OpenSim versions.Please read the README files in KS-libraries and KS-example to find out more about how to use the tool.Please contact us for any questions: [e-mail] | [e-mail]. Please report any issues or suggestions on the GitHub page. <br/><br/>This project includes the following software/data packages: <br/> <ul> <li> <a href="https://simtk.org/frs?group_id=797#pack_2210">KS libaries (from OpenSim 4.0) </a> : An executable of the Kalman Smoothing algorithm. </li> <li> <a href="https://simtk.org/frs?group_id=797#pack_2211">KS example (from OpenSim 4.0) </a> : A setup file for the gait2354 example distributed with the OpenSim installation. </li> <li> <a href="https://simtk.org/frs?group_id=797#pack_1325">KS example (OpenSim 3.2) </a> : A setup file for the gait2354 example distributed with the OpenSim installation. </li> <li> <a href="https://simtk.org/frs?group_id=797#pack_1289">KS libraries (OpenSim 3.2) </a> : An executable of the Kalman Smoothing algorithm. </li> <li> <a href="https://simtk.org/frs?group_id=797#pack_1324">KS source code (OpenSim 3.2) </a> : Header and source files for the InverseKinematicsKS Tool. </li> </ul>

本课题旨在实现一种针对逆运动学的卡尔曼滤波平滑算法。卡尔曼滤波平滑技术优化了基于标记的人体步态分析中关节运动学和动力学参数的估计。该平滑算法作为OpenSim安装包中内置的逆运动学工具所实现的全球优化算法的替代方案，其运行依赖于相同的输入和配置文件。在配置文件中，可根据需要指定描述测量噪声和运动平滑度的附加参数。算法的详细描述可见于De Groote等人（2008年）的研究。算法的代码实现可在GitHub上查阅（https://github.com/antoinefalisse/opensim-core/tree/kalman_smoother），最新版本基于OpenSim 4.1至4.2版本之间的fork版本。我们将努力将算法与即将推出的OpenSim版本兼容。欲了解该工具的更多使用方法，请参阅KS-libraries和KS-example中的README文件。如有任何疑问，请联系[e-mail]或[e-mail]。对于任何问题或建议，请在GitHub页面进行报告。该项目包含以下软件/数据包：

<ul>
<li><a href="https://simtk.org/frs?group_id=797#pack_2210">KS libraries (自OpenSim 4.0起）</a>：卡尔曼平滑算法的可执行文件。</li>
<li><a href="https://simtk.org/frs?group_id=797#pack_2211">KS example (自OpenSim 4.0起）</a>：OpenSim安装包中附带gait2354示例的配置文件。</li>
<li><a href="https://simtk.org/frs?group_id=797#pack_1325">KS example (OpenSim 3.2）</a>：OpenSim安装包中附带gait2354示例的配置文件。</li>
<li><a href="https://simtk.org/frs?group_id=797#pack_1289">KS libraries (OpenSim 3.2）</a>：卡尔曼平滑算法的可执行文件。</li>
<li><a href="https://simtk.org/frs?group_id=797#pack_1324">KS source code (OpenSim 3.2）</a>：InverseKinematicsKS工具的头文件和源代码文件。</li>
</ul>